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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Hlavní autoři:	Lu Lu, Qihua Xiao, Shikang Zhou, Xinhai Wang, Yunhe Meng
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	MDPI AG 2026-01-01
Edice:	Drones
Témata:	UAV control suspended payload swing suppression feedback linearization cooperative control multibody dynamics
On-line přístup:	https://www.mdpi.com/2504-446X/10/1/51
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