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- W4385488475 abstract "A slung load system (SLS) is a mechanical dynamical system composed of an unmanned aerial vehicle (UAV) carrying a slung load. The nonlinear underactuated SLS dynamics make its motion control a challenging and current problem. This paper proposes a motion control that uses path-following instead of traditional trajectory-tracking. The method defines a geometric path in 3D space for the SLS to follow and renders it controlled-invariant. Output tracking error dynamics are exponentially stabilized using a dynamic state feedback linearization. Simulations demonstrate the robustness of the control to payload mass uncertainty and its benefits over trajectory-tracking." @default.
- W4385488475 created "2023-08-03" @default.
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- W4385488475 date "2023-06-28" @default.
- W4385488475 modified "2023-09-26" @default.
- W4385488475 title "Path-following control for a slung load system" @default.
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- W4385488475 doi "https://doi.org/10.1109/aim46323.2023.10196236" @default.
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