Asymptotic stability for a transformed nonlinear UAV model with a suspended load via energy shaping
Asymptotic stability for a transformed nonlinear UAV model with a suspended load via energy shaping
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Publisher
Philadelphia: Elsevier Ltd
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Language
English
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Philadelphia: Elsevier Ltd
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In this article, we present a new passivity-based controller which ensures asymptotic stability of the desired equilibrium point for a quadrotor with a cable-suspended load. Two steps compose the control synthesis procedure: the first step uses a new coordinate transformation on the position coordinates together with a partial feedback controller t...
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Full title
Asymptotic stability for a transformed nonlinear UAV model with a suspended load via energy shaping
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TN_cdi_proquest_journals_2756017107
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_proquest_journals_2756017107
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ISSN
0947-3580
E-ISSN
1435-5671
DOI
10.1016/j.ejcon.2019.09.002
