Event
Dual-Drone Cable Suspension: Force Sensors and Tension Outer-Loop Control
1 reports · 1 sources
Andrea Delbene and co-authors propose a dual-drone cable suspension framework: a self-developed compact force sensor is installed at the drone's cable anchor point to measure the suspension interaction force, and its linearity, hysteresis, repeatability, and cross-loading were tested statically and dynamically. The control uses a cascaded structure, with the inner loop responsible for body stabilization and the outer loop compensating based on the measured force. The authors state that, under position uncertainty conditions, simulations and indoor experiments validated the scheme; in suspension-drop and confined-space tests, compared with distributed methods in the literature, the scheme showed improvements in stability, coordination, and disturbance rejection.
Report timeline
- Compact Force Sensor and Tension-Aware Outer-Loop Control for Dual-UAV Cable-Suspended Payload Transport
This study proposes a dual-UAV payload transport framework that uses a custom compact force sensor at the cable anchor point to measure interaction forces, with static and dynamic tests evaluating its linearity, hysteresis, repeatability, and crossload. Control uses a cascade structure: inner loops handle vehicle stabilization, while outer loops compensate for the measured forces, validated in simulations and indoor experiments under position uncertainty. Payload-drop and constrained-space tests compared with literature-based distributed methods show improved stability, coordination, and disturbance rejection.
arXiv cs.RO ·