Trajectory control of a suspended load with non-stopping flying carriers
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
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| _version_ | 1866913086490804224 |
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| author | Girardello, Sofia Michieletto, Giulia Cenedese, Angelo Franchi, Antonio Gabellieri, Chiara |
| author_facet | Girardello, Sofia Michieletto, Giulia Cenedese, Angelo Franchi, Antonio Gabellieri, Chiara |
| contents | This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by computing the wrench required for tracking its desired pose trajectory. Building upon grasp-matrix formulation and internal force redundancy, an optimization layer dynamically shapes internal-force parameters to guarantee persistent carrier motion, while not altering the desired load wrench. The desired non-stopping carrier's trajectories are computed using the system's kinematics and desired cable forces. Numerical simulations demonstrate that the method successfully prevents the carriers from stopping, while achieving a successful tracking of the desired load trajectory. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_11413 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Trajectory control of a suspended load with non-stopping flying carriers Girardello, Sofia Michieletto, Giulia Cenedese, Angelo Franchi, Antonio Gabellieri, Chiara Systems and Control This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by computing the wrench required for tracking its desired pose trajectory. Building upon grasp-matrix formulation and internal force redundancy, an optimization layer dynamically shapes internal-force parameters to guarantee persistent carrier motion, while not altering the desired load wrench. The desired non-stopping carrier's trajectories are computed using the system's kinematics and desired cable forces. Numerical simulations demonstrate that the method successfully prevents the carriers from stopping, while achieving a successful tracking of the desired load trajectory. |
| title | Trajectory control of a suspended load with non-stopping flying carriers |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2510.11413 |