Synthesized Optimal Control of Group Interaction of Quadrocopters Based on Multi-Point Stabilization

The study examines the problem of optimal control of group interaction of three quadrocopters. A group of three quadrocopters must move the load on flexible rods from one point in space to another one without hitting obstacles, one quadrocopter being not able to complete the task due to the weight of the load. To solve the problem, the method of synthesized optimal control based on multi-point stabilization was used. The method is called synthesized, since the problem of synthesizing the stabilization system for each robot is first solved. At the next stage, the problem of the optimal location of stabilization points in the state space is solved in such a way that when these points are switched from one to another, at a given time interval, the quadrocopters move the load from the initial position to the final one with the optimal value of the quality criterion. The network operator method is used to solve the synthesis problem. All phase constraints describing group interaction and obstacles are included in the quality criterion by the method of penalty functions. An evolutionary particle swarm optimization algorithm was used to find the positions of points

Configuration Optimization for End-Point Stabilization of Redundant Manipulators With Base Flexibility

This paper presents a method to determine an optimal configuration of a teleoperated excavator to minimize the induced undercarriage oscillation for robust end-point stabilization. Treating the excavator as a kinematically redundant system, where non-unique combinations of the undercarriage position and arm posture can locate the end-point at the same reference. A specific configuration can be chosen to not excite undercarriage oscillation with simple end-point error feedback control without model-based or measurement-based vibration suppression. Robust stability measures based on normalized coprime factorization as well as modal decomposition solve the redundancy of the kinematics. An advantage of this approach is that the control engineer can proceed as if the excavator arm is fixed to rigid ground, which is practically not the case, and apply simple traditional Jacobian-based end-point control.