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Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties

Abstract : In this work we propose an uncertainty-aware controller for the Fly-Crane system, a statically rigid cable-suspended aerial manipulator using the minimum number of aerial robots and cables. The force closure property of the Fly-Crane makes it ideal for applications where high precision is required and external disturbances should be compensated. The proposed control requires the knowledge of the nominal values of a minimum number of uncertain kinematic parameters, thus simplifying the identification process and the controller implementation. We propose an optimization-based tuning method of the control gains that ensures stability despite parameter uncertainty and maximizes the H∞ performance. The validity of the proposed framework is shown through real experiments.
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https://hal.laas.fr/hal-02460422
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Submitted on : Thursday, January 30, 2020 - 9:52:28 AM
Last modification on : Monday, July 20, 2020 - 11:12:01 AM

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Dario Sanalitro, Heitor Savino, Marco Tognon, Juan Cortés, Antonio Franchi. Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties. IEEE Robotics and Automation Letters, IEEE 2020, 5 (2), pp.2185 - 2191. ⟨10.1109/LRA.2020.2969930⟩. ⟨hal-02460422⟩

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