Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System Subject to Parameter Uncertainty

This article studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, this article sheds light on the impact of the uncertain knowledge of the model parame...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 39; no. 5; pp. 1 - 17
Main Authors:	Gabellieri, Chiara, Tognon, Marco, Sanalitro, Dario, Franchi, Antonio
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.10.2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Aerial systems Attitude control Cables Closed loops Communication Computer Science cooperative aerial manipulation Hardware Internal forces Load modeling mechanics and control motion control Parameter sensitivity Parameter uncertainty Position errors Regulation Robotics Robots Robustness Robustness (mathematics) Sensitivity Stability Uncertainty Motion Control Cooperative Aerial Manipulation Aerial Systems: Mechanics and Control
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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