Physical Modeling and Data-Driven Hybrid Control for Quadrotor-Robotic-Arm Cable-Suspended Payload Systems
This work investigates a quadrotor equipped with dual-stage robotic arms and a cable-suspended payload, developing a unified methodology for modeling and control. A 10-DOF Lagrangian model captures vehicle-arm-payload coupling through structured mass matrices. A hierarchical control architecture com...
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| Автори: | , , , , |
|---|---|
| Формат: | Artigo |
| Мова: | Inglês |
| Опубліковано: |
MDPI AG
2026-01-01
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| Серія: | Drones |
| Предмети: | |
| Онлайн доступ: | https://www.mdpi.com/2504-446X/10/1/51 |
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