Passivity based control for a quadrotor UAV transporting a cable-suspended payload with minimum swing

E. Guerrero, M.; A. Mercado, D.; Lozano, Rogelio; D. Garcia, C.

doi:10.1109/cdc.2015.7403277

Public

Passivity based control for a quadrotor UAV transporting a cable-suspended payload with minimum swing

Published • Dec 1, 2015

Authors:

M. E. Guerrero

D. A. Mercado

Rogelio Lozano

Abstract

In the present work a mathematical model and a control methodology for a special class of underactuated mechanical system, composed by an Unmanned Aerial Vehicle (UAV) kind quadrotor transporting a cable-suspended payload, is proposed. The Euler-Lagrange formulation is used to derive the dynamic mod...

Subject

Payload (computing)

Swing

Passivity

Finding related papers...

Discussions

(0)

No comments yet

Be the first to share your thoughts!