@inproceedings{8e10d5521adb4ed198af7e944e2e2906,
title = "Path-following control for a slung load system",
abstract = "A slung load system (SLS) is a mechanical dynamical system composed of an unmanned aerial vehicle (UAV) carrying a slung load. The nonlinear underactuated SLS dynamics make its motion control a challenging and current problem. This paper proposes a motion control that uses path-following instead of traditional trajectory-tracking. The method defines a geometric path in 3D space for the SLS to follow and renders it controlled-invariant. Output tracking error dynamics are exponentially stabilized using a dynamic state feedback linearization. Simulations demonstrate the robustness of the control to payload mass uncertainty and its benefits over trajectory-tracking.",
keywords = "nonlinear control, path-following, slung load, unmanned aerial systems",
author = "Lawati, {Mohamed Al} and Lynch, {Alan F.}",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2023 ; Conference date: 28-06-2023 Through 30-06-2023",
year = "2023",
doi = "10.1109/AIM46323.2023.10196236",
language = "English",
series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "247--254",
booktitle = "2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2023",
address = "United States",
}