Control framework for slung load transportation with two aerial vehicles

Abstract

We model a point mass load tethered to two aerial vehicles, and propose a control strategy that guarantees that the load tracks a desired position trajectory. Our framework consists in designing an input and a state transformation which converts the quadrotors-load system into three decoupled subsystems: one concerning the position of the load, with… (More)
DOI: 10.1109/CDC.2017.8264286

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