A novel admittance controller with dynamic cable-length regulation improves responsiveness and motion smoothness in human-quadrotor cooperative load transportation compared to conventional fixed or variable cable approaches.
Ifτ c(t)≡0fort≥T c, there exists a positive constantλ 2, such that ∥z(t)∥2≤ c2 c1 e−λ2(t−Tc)∥z(Tc)∥2, t≥T c.(19)
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Task-Adaptive Admittance Control for Human-Quadrotor Cooperative Load Transportation with Dynamic Cable-Length Regulation
A novel admittance controller with dynamic cable-length regulation improves responsiveness and motion smoothness in human-quadrotor cooperative load transportation compared to conventional fixed or variable cable approaches.