The work develops sensorless load state estimation and NMPC control for agile cable-suspended payload transport by quadrotors by explicitly incorporating cable constraints via Udwadia-Kalaba method, leading to better trajectory tracking in experiments.
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Sensorless State Estimation and Control for Agile Cable-Suspended Payload Transport by Quadrotors
The work develops sensorless load state estimation and NMPC control for agile cable-suspended payload transport by quadrotors by explicitly incorporating cable constraints via Udwadia-Kalaba method, leading to better trajectory tracking in experiments.