Asymptotic stability for a transformed nonlinear UAV model with a suspended load via energy shaping

DOI10.1016/J.EJCON.2019.09.002MaRDI QIDQ2301571zbMATH OpenOpenAlexWikidataFDO

Authors Jose Guadalupe Romero, H. Rodríguez-Cortés

Publication date 25 February 2020

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.ejcon.2019.09.002

zbMATH Keywords

Lyapunov functionsPID controllersquadrotor model

Mathematics Subject Classification ID

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

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Cites work

• A trajectory tracking control law for a quadrotor with slung load
• Energy Shaping of Mechanical Systems via PID Control and Extension to Constant Speed Tracking
• Global stabilisation of underactuated mechanical systems via PID passivity-based control
• Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one
• Shaping the Energy of Mechanical Systems Without Solving Partial Differential Equations

Cited in

(8)

• Nonlinear control strategies for a UAV carrying a load with swing attenuation
• A trajectory tracking control law for a quadrotor with slung load
• Pose stabilization of a bar tethered to two aerial vehicles
• Practical tracking of uncertain nonlinear systems via adaptive event-triggered output feedback
• Robust adaptive control for formation-based cooperative transportation of a payload by multi quadrotors
• A framework to design interaction control of aerial slung load systems: transfer from existing flight control of under-actuated aerial vehicles
• Stabilization of a class of underactuated parallel robots via energy shaping: application to cable driven manipulators
• Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics

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