Improved Control of DLO Transportation by a Team of Quadrotors

  • Julian Estevez
  • Manuel GrañaEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10338)


Quasi-stationary sections of a deformable linear object (DLO) hanging freely from two extreme points can be modeled either by catenaries or parabolic curves, depending on the conditions of the UAVs. DLO transportation is an instance of a leader-follower platoon team strategy, in which the local quadrotor control must cope with the dynamic perturbations due to the DLO linking the quadrotors. The quadrotor team control has two phases, one achieving a spatial configuration with equal energy consumption, the other is to manage the horizontal motion which is the transportation process per se. We propose a Model Reference Adaptive Control (MRAC) for the quadrotors team, which uses fuzzy modeling of the error in order to modulate the activation of the adaptation rules applied to proportional-derivative (PD) controller parameters, which are derived as error gradient descent rules. In this paper, we contribute the parabolic representation of the DLO and improved follow the leader control, testing the MRAC stability and robustness under a series of experiments.


Proportional Integral Derivative Adaptation Rule Proportional Integral Derivative Control Model Reference Adaptive Control Follower Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Computational Intelligence GroupUniversity of the Basque Country, UPV/EHUSan SebastianSpain

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