Cooperative Aerial Manipulation with Decentralized Adaptive Force-Consensus Control
Published in Journal of Intelligent & Robotic Systems (JINT), 2020
Recommended citation: Thapa S., Bai H., Acosta J.A. "Cooperative Aerial Manipulation with Decentralized Adaptive Force-Consensus Control." Journal of Intelligent & Robotic Systems (JINT), 2020. https://link.springer.com/article/10.1007/s10846-019-01048-4
Decentralized adaptive force-consensus controllers enabling a multi-UAV team to jointly transport a payload without direct inter-robot communication under unknown payload mass and external disturbances, with Lyapunov-based stability analysis.