A tension-to-thrust feed-forward law combined with a hybrid practical input-to-state stability certificate enables decentralized multi-UAV slung-load systems to recover from abrupt cable severances with bounded errors in simulation.
Nonlinear model predictive control for cooper- ative transportation and manipulation of cable suspended payloads with multiple quadrotors
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Passive Fault Tolerance through Tension-to-Thrust Feed-Forward: Hybrid Input-to-State Stability for Decentralized Multi-UAV Slung-Load Transport under Abrupt Cable Severance
A tension-to-thrust feed-forward law combined with a hybrid practical input-to-state stability certificate enables decentralized multi-UAV slung-load systems to recover from abrupt cable severances with bounded errors in simulation.