Nombre: VINICIUS PACHECO BACHETI
Fecha de publicación: 30/09/2025
Junta de examinadores:
Nombre |
Papel |
|---|---|
| ALEXANDRE SANTOS BRANDÃO | Coorientador |
| CLAUDIO DARIO ROSALES | Examinador Externo |
| JOSE LEANDRO FELIX SALLES | Examinador Interno |
| LEONARDO JESÚS COLOMBO | Examinador Externo |
| MARIO SARCINELLI FILHO | Presidente |
Páginas
Sumario: This dissertation presents a study on the cooperative transportation of cable-suspended payloads using quadrotors. The central contribution is the development of a control framework that closes the loop on the payload by exploiting the resultant cable tensions to achieve trajectory tracking. The work begins with a study on a single off-the-shelf drone transporting a load, marking the author’s first steps in modeling and controlling aerial systems with cable-suspended payloads. After, the first version of the tension-based control framework is proposed for a team of n quadrotors carrying a single payload. This framework supports dynamic reconfiguration, allowing both geometric adjustments of the formation and the addition or removal of agents.
Simulations and experiments demonstrate the effectiveness of the approach, including during reconfiguration events.
Subsequently, a novel attitude controller is introduced, replacing the one used in earlier versions of the framework. Two further iterations of the framework are then proposed. The first incorporates an adaptive sliding mode control law, improving resilience against unmodeled dynamics and external disturbances such as wind gusts. Extensive experimental validation shows that this adaptive robust controller not only outperforms the previous framework but also surpasses a standard PID baseline. The second iteration augments the system with a potential field–based mechanism, designed to prevent intra-formation collisions. This addition improves safety and demonstrates scalability through experiments with n = 5 agents. Results reveal that the repulsion force not only prevents collisions but also enhances the overall performance of the transportation task.
