Control Architecture for a Quadrotor Transporting a Cable-Suspended Load of Uncertain Mass
This paper presents an architecture for controlling a quadrotor transporting a cable-suspended load of uncertain mass. A family of trajectories is proposed that is composed by three phases—lift-off, transit, and landing—and implemented as a hybrid system. The proposed control system uses an adaptive...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-03-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/7/3/201 |