2014/03/14 by Taeyoung Lee, Lee, Taeyoung · 2 citations
Computer Science · Engineering · Mathematics · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #Distributed Control Multi-Agent Systems #FOS: Mathematics #Optimization and Control (math.OC) #math.OC
paper · pdf · doi:10.48550/arxiv.1403.3684
openalex publication_date 2014/03/14 · arxiv created 2014/03/20 · arxiv updated 2014/03/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links, control systems for quadrotors are constructed such that the rigid body asymptotically follows a given desired position and attitude trajectory. These are developed in a coordinate-free fashion to avoid singularities and complexities associated with local parameterizations.