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• W4285473763 abstract "Abstract This paper presents the design of a geometric trajectory tracking controller for an underactuated multi-body system describing the cooperative task of two quadrotor UAVs (unmanned aerial vehicles) carrying and transporting a rigid bar, which is attached to the quadrotors via inflexible elastic cables. The elasticity of the cables together with techniques of singular perturbation allows a reduction in the model to that of a similar model with inelastic cables. In this reduced model, we design a controller such that the rod exponentially tracks a given desired trajectory for its position and attitude, under some assumptions on initial error. We then show that exponential tracking in the reduced model corresponds to exponential tracking of the original elastic model. We also show that the previously defined control scheme provides uniform ultimate boundedness in the presence of unstructured bounded disturbances." @default.
• W4285473763 created "2022-07-15" @default.
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• W4285473763 creator A5011498718 @default.
• W4285473763 date "2022-07-06" @default.
• W4285473763 modified "2023-10-16" @default.
• W4285473763 title "Geometric Control of Two Quadrotors Carrying a Rigid Rod with Elastic Cables" @default.
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• W4285473763 doi "https://doi.org/10.1007/s00332-022-09821-w" @default.
• W4285473763 hasPublicationYear "2022" @default.
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