A trajectory tracking control law for a quadrotor with slung load

DOI10.1016/j.automatica.2019.04.030zbMath1429.93240OpenAlexW2945313006WikidataQ127814862 ScholiaQ127814862MaRDI QIDQ2280790

Rita Cunha, David Cabecinhas, Carlos Silvestre

Publication date: 19 December 2019

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2019.04.030

zbMATH Keywords

backsteppingLyapunov methodsquadrotor vehicleslung load control

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Related Items (6)

Dynamic surface control with a nonlinear disturbance observer for multi‐degree of freedom underactuated mechanical systems ⋮ Adaptive trajectory tracking of UAV with a cable-suspended load using vision-inertial-based estimation ⋮ Design and experimental validation of a nonlinear controller for underactuated surface vessels ⋮ Asymptotic stability for a transformed nonlinear UAV model with a suspended load via energy shaping ⋮ Nonlinear control strategies for a UAV carrying a load with swing attenuation ⋮ A framework to design interaction control of aerial slung load systems: transfer from existing flight control of under-actuated aerial vehicles

Cites Work

• Planning and Control for Cooperative Manipulation and Transportation with Aerial Robots
• A Control Approach for Thrust-Propelled Underactuated Vehicles and its Application to VTOL Drones

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