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This paper focuses on the design of a stabilizing control law for an aerial vehicle which is physically connected to a ground station by means of a tether cable. By taking advantage of the tensile force acting along the taut cable, it is shown that the tethered UAV is able to maintain a non-zero attitude while hovering in a constant position. The control(More)
—This paper introduces a novel closed-form strategy that dynamically modifies the reference of a pre-compensated nonlinear system to ensure the satisfaction of a set of convex constraints. The main idea consists of translating constraints in the state space into constraints on the Lyapunov function and then modulating the reference velocity so as to limit(More)
— This paper addresses the problem of using un-manned 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(More)
A prospective study on two samples of consecutive puerperae (total n degrees 667) from two populations has been carried out in order to investigate the possible effect of smoking habit on relationship between fertility and haptoglobin phenotype.In both populations the negative association previously reported between age of pueperae and Haptoglobin *1/*1(More)
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