Transporte Colaborativo de Carga Entre Dos Vehículos Aéreos No Tripulados Utilizando Lógica Difusa

Resumen: El modelo en tres dimensiones del sistema cooperativo para transporte de carga formado por dos vehículos cuadrirrotor con una carga suspendida tipo barra es obtenido utilizando la metodología de Euler-Lagrange. Una estrategia de control cooperativo basada en lógica difusa es propuesta, donde las dinámicas no modeladas y las perturbaciones generadas por la carga son aproximadas mediante un sistema difuso. Un conjunto de resultados experimentales son presentados para mostrar el desempeño de la estrategia de control propuesta.

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Nadia S. Zúñiga, Julio C. De Dios, Filiberto Muñoz, Luis R. García, Marco A. Márquez & Eduardo S. Espinoza. Transporte Colaborativo de Carga Entre Dos Vehículos Aéreos No Tripulados Utilizando Lógica Difusa. Memorias del Congreso Nacional de Control Automático, pp. 376-381, 2018.

Palabras clave

Control difuso, modelado e identificación de sistemas, transporte de carga, sistemas multi-agente, vehículos aéreos

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