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- W2952493080 abstract "This paper is focused on the dynamics and control of arbitrary number of quadrotor UAVs transporting a rigid body payload. The rigid body payload is connected to quadrotors via flexible cables where each flexible cable is modeled as a system of serially-connected links. It is shown that a coordinate-free form of equations of motion can be derived for arbitrary numbers of quadrotors and links according to Lagrangian mechanics on a manifold. A geometric nonlinear controller is presented to transport the rigid body to a fixed desired position while aligning all of the links along the vertical direction. Numerical results are provided to illustrate the desirable features of the proposed control system." @default.
- W2952493080 created "2019-06-27" @default.
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- W2952493080 date "2015-01-20" @default.
- W2952493080 modified "2023-09-27" @default.
- W2952493080 title "Dynamics and Control of Quadrotor UAVs Transporting a Rigid Body Connected via Flexible Cables" @default.
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