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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-05242017-152114


Tipo di tesi
Tesi di laurea magistrale
Autore
GABELLIERI, CHIARA
URN
etd-05242017-152114
Titolo
Communication-less cooperative transportation of a cable-suspended load performed by aerial robots.
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof.ssa Pallottino, Lucia
relatore Dott. Franchi, Antonio
correlatore Dott. Tognon, Marco
Parole chiave
  • Cooperative transportation
  • aerial transportation
  • admittance controller
Data inizio appello
22/06/2017
Consultabilità
Completa
Riassunto
In the following thesis, the study of the cooperative transportation of a load, performed by aerial robots without explicit communication is considered. Theoretical results together with simulations are presented. To solve the problem, a master-slave approach is pro- posed. The proposed control architecture is an admittance controller on both the master and the slave. The master receives a desired trajectory as external input, while the slave passively follows the master giving its contribution in lifting the load. At the beginning, the transportation of a bar performed by two aerial robots is considered. The passivity of the system is proven with respect to an energy-like storage function and and a certain input-output pair. Then, the equilibrium configurations of the system are studied, and the stability of the equilibria is analysed with direct Lyapunov method and La Salle’s invari- ance principle. A method to stabilize the load in a final desired configuration is given.
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