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- W2931380327 abstract "Transporting a cable-suspended payload with two quadrotors involves controlling two quadrotors cooperatively. The existing methods formulate the problem into a control system with one cost function. This paper formulates the problem into a control system with two cost functions by considering two quadrotors as two decision makers and exploiting their individual interests as two cost functions. A dynamic game model is developed for this purpose. The benefit is to control the system more efficiently in terms of individual costs. The system dynamics is derived based on the Euler-Lagrange equation, and then linearized into a linear system. Based on the linearized system, an incentive Stackelberg dynamic game approach is applied to the system with one quadrotor as the leader and the other as the follower. Following an incentive Stackelberg game strategy, two state feedback controllers are developed for the leader and the follower. The application scenario is a tracking task where the payload should track a desired trajectory by controlling the two quadrotors. The simulation performance comparison with an LQR controller is provided." @default.
- W2931380327 created "2019-04-11" @default.
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- W2931380327 date "2018-09-01" @default.
- W2931380327 modified "2023-09-23" @default.
- W2931380327 title "Incentive Stackelberg Dynamic Game Approach to Transporting a Cable-Suspended Load with Two Quadrotors" @default.
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- W2931380327 doi "https://doi.org/10.1109/ceec.2018.8674238" @default.
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