Energy-Based Control and LMI-Based Control for a Quadrotor Transporting a Payload

Energy-Based Control and LMI-Based Control for a Quadrotor Transporting a Payload

This paper presents the control of a quadrotor with a cable-suspended payload. The proposed control structure is a hierarchical scheme consisting of an energy-based control (EBC) to stabilize the vehicle translational dynamics and to attenuate the payload oscillation, together with a nonlinear state...

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Bibliographic Details
Main Authors: María-Eusebia Guerrero-Sánchez, Omar Hernández-González, Rogelio Lozano, Carlos D. García-Beltrán, Guillermo Valencia-Palomo, Francisco R. López-Estrada
Format: Article
Language:English
Published: MDPI AG 2019-11-01
Series:Mathematics
Subjects:
energy-based control
payload swing attenuation
linear matrix inequalities
quadrotor
larger lipschitz constants
Online Access:https://www.mdpi.com/2227-7390/7/11/1090

Internet

https://www.mdpi.com/2227-7390/7/11/1090

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