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- W4386822300 abstract "To account for the practical applications of the quadrotor helicopter UAV slung-payload transportation system and the variety of the cable connecting the UAV and the payload, this paper modifies the dynamics of the UAV slung-payload system and proposes a geometric-based nonlinear controller to achieve accurate trajectory tracking. Inner and outer loop controllers are jointly designed, and Lyapunov-based stability analysis is employed to prove the closed-loop system's stability. Numerical simulations demonstrate the effectiveness of the proposed control strategy." @default.
- W4386822300 created "2023-09-19" @default.
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- W4386822300 date "2023-07-24" @default.
- W4386822300 modified "2023-10-18" @default.
- W4386822300 title "Nonlinear Geometric Control Design for a Helicopter UAV Transportation System via Diverse Cables" @default.
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- W4386822300 doi "https://doi.org/10.23919/ccc58697.2023.10239800" @default.
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