Geometric stabilization of a quadrotor UAV with a payload connected by flexible cable

Abstract

This paper deals with dynamics and control of a quadrotor UAV with a payload that is connected via a flexible cable, which is modeled as a system of serially-connected links. It is shown that a coordinate-free form of equations of motion can be derived for an arbitrary number of links according to Lagrangian mechanics on a manifold. A geometric nonlinear… (More)
DOI: 10.1109/ACC.2014.6859419

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