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• W2964337281 abstract "This paper presents a nonlinear backstepping controller designed for an underactuated quadrotor-slung load system that drives the load to a predefined trajectory. The quadrotor and the load are modeled as a rigid body and a point mass, respectively. The controller is designed through Lyapunov and backstepping techniques, and the control laws for thrust and angular velocity are presented, which guarantee the closed-loop system to be asymptotically stable. Experimental results are provided to assess the validity and performance of the proposed controller." @default.
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• W2964337281 date "2019-10-01" @default.
• W2964337281 modified "2023-10-11" @default.
• W2964337281 title "Nonlinear Backstepping Control of a Quadrotor-Slung Load System" @default.
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• W2964337281 doi "https://doi.org/10.1109/tmech.2019.2930211" @default.
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