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

• 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

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...