par Nicotra, Marco ;Garone, Emanuele ;Naldi, Roberto;Marconi, Lorenzo
Référence (Portland, OR, USA), American Control Conference, page (3585-3590)
Publication Publié, 2014
Publication dans des actes
Résumé : This paper addresses the problem of using unmanned aerial vehicles for the transportation of suspended loads. The proposed solution introduces a novel control law capable of steering the aerial robot to a desired reference while simultaneously limiting the sway of the payload. The stability of the equilibrium is proven rigorously through the application of the nested saturation formalism. Numerical simulations demonstrating the effectiveness of the controller are provided. © 2014 American Automatic Control Council.