This paper addresses the problem of using unmanned aerial vehicles for the transportation of suspended loads. The proposed solution introduces a novel control law capable of steering the aerial robot to a desired reference while simultaneously limiting the sway of the payload. The stability of the equilibrium is proven rigorously through the application of the nested saturation formalism. Numerical simulations demonstrating the effectiveness of the controller are provided.
Marco M. Nicotra, Emanuele Garone, Roberto Naldi, Lorenzo Marconi (2014). Nested saturation control of an UAV carrying a suspended load [10.1109/ACC.2014.6859222].
Nested saturation control of an UAV carrying a suspended load
NALDI, ROBERTO;MARCONI, LORENZO
2014
Abstract
This paper addresses the problem of using unmanned aerial vehicles for the transportation of suspended loads. The proposed solution introduces a novel control law capable of steering the aerial robot to a desired reference while simultaneously limiting the sway of the payload. The stability of the equilibrium is proven rigorously through the application of the nested saturation formalism. Numerical simulations demonstrating the effectiveness of the controller are provided.File in questo prodotto:
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