不確かな外力下でのカテナリーロボットのロバスト幾何学的制御
Robust Geometric Control of Catenary Robots under Unstructured Force Uncertainties
2台のクアッドローターを非伸縮ケーブルで連結したカテナリーロボットのロバスト制御を提案し、ケーブル形状による不確かな力に対する追従誤差の入力-状態安定性を理論的に示した。
著者: Alexandre Anahory Simoes, Leonardo Colombo
分類: eess.SY, math.OC
原文アブストラクト
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration rather than as an independent dynamical element. The catenary shape determines configuration-dependent forces that couple the translational dynamics of the vehicles. We propose a geometric tracking controller for the relative configuration of the agents and analyze its robustness with respect to unstructured uncertainties in the catenary-induced forces. The main theoretical result establishes local input-to-state stability of the closed-loop tracking errors. In particular, we obtain asymptotic convergence in the nominal case and an explicit ultimate bound for the tracking errors under bounded catenary-force perturbations.