A geometric controller for a two-quadrotor catenary robot achieves local input-to-state stability of tracking errors under bounded unstructured force uncertainties from the cable.
Aerial transporta- tion control of suspended payloads with multiple agents,
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Robust Geometric Control of Catenary Robots under Unstructured Force Uncertainties
A geometric controller for a two-quadrotor catenary robot achieves local input-to-state stability of tracking errors under bounded unstructured force uncertainties from the cable.