Paper Info
Title
Fuzzy Logic Based Variable Damping Admittance Control For Multi-Uav Collaborative Transportation
Abstract
This paper implements a variable damper admittance control in a multi UAV system. Two Unmanned Aerial Vehicles (UAVs) are considered in this work for simplicity, to collaboratively transport a common payload. A leader-follower architecture is used. The leader UAV uses a traditional Proportional, Integral and Derivative (PID) control whereas the follower UAV makes control decision by a force feedback admittance controller. The admittance controller simulates a virtual spring mass damper system to implement a force feedback controller for the follower UAV. It ensures effective force compliance via proper choice of admittance parameters, which are stiffness, mass and damping of a virtual spring mass damper system. However, the performance of the controller can be improved by following a variable damping admittance strategy that allows adaptation of the damping coefficient based on the interaction contact forces and their rates, acting on the follower, due to leaders motion. Calculation of variable damping coefficient is proposed to be carried out using Fuzzy Logic (FL) that utilizes heuristic and intuitive knowledge for calculations. The proposed scheme provides effective performance in comparison to a constant damping admittance scheme, which is validated through the results provided in this paper.
Year
Venue
Field
2018
2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC)
Control theory,PID controller,Control theory,Computer science,Fuzzy logic,Contact force,Control engineering,Admittance parameters,Tuned mass damper,Admittance,Damper
DocType
ISSN
Citations 
Conference
0743-1619
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Shraddha Barawkar100.34
Mohammadreza Radmanesh252.59
manish kumar340169.07
Kelly Cohen45314.24