Neural CCM and feedback controllers trained on decoupled payload and cable subsystems enable trajectory tracking and gate traversal for variable-length cable multi-drone systems in simulation.
Control Contraction Metrics: Convex and Intrinsic Criteria for Nonlinear Feedback Design,
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Contraction-based Neural Control for Cooperative Aerial Payload Transportation with Variable-length Cables
Neural CCM and feedback controllers trained on decoupled payload and cable subsystems enable trajectory tracking and gate traversal for variable-length cable multi-drone systems in simulation.