Gene

Quantum mechanics

Robot

Control (management)

Beam (structure)

Engineering

Internal forces

Exponential stability

Robustness (evolution)

Stability (learning theory)

Economics

Biochemistry

Civil engineering

Computer science

Physics

Nonlinear system

Passivity

Position (finance)

Lyapunov function

Artificial intelligence

Structural engineering

Chemistry

Finance

Control theory (sociology)

Mechanics

Machine learning

Electrical engineering

IEEE Robotics and Automation Letters

This letter considers the cooperative manipulation of a cable-suspended load with two generic aerial robots without the need of explicit communication. The role of the internal force for the asymptotic stability of the beam position-and-attitude equilibria is analyzed in depth. Using a nonlinear Lyapunov-based approach, we prove that if a nonzero internal force is chosen, then the asymptotic stabilization of any desired beam attitude can be achieved with a decentralized and communicationless master–slave admittance controller. If, conversely, a zero internal force is chosen, as done in the majority of the state-of-the-art algorithms, the attitude of the beam is not controllable without communication. Furthermore, we formally proof the output-strictly passivity of the system with respect to an energy-like storage function and a certain input–output pair. This proves the stability and the robustness of the method during motion and in nonideal. The theoretical findings are validated through extensive simulations.

Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity