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This work proposes the representation of the high level dynamic modelling of a formation of two quadrotor UAVs cooperatively carrying a suspended load. The two quadrotors are attached to the load by massless and stretchable cables, which can slack and taut during the task accomplishment. The cable is modeled as a high stiffness spring with a damping coefficient, according to the Hooke's law, and its...
This work describes the development of a platform to deal with simulated and real autonomous flights with rotary-wing aircrafts. Such a platform, referred to as AuRoRA Platform – Autonomous Robots for Research and Applications – contemplates hardware and software, and is designed for use with commercial miniature rotorcrafts, also embedding the instrumentation necessary to autonomously guide them...
This work proposes a high level dynamic model of a quadrotor UAV with a suspended load in the three dimensional space. Euler Lagrange equations are applied, and a nonlinear controller, based on partial feedback linearization, is proposed and used to guide the quadrotor in positioning and trajectory tracking tasks. The controller is responsible for stabilizing the vehicle and for rejecting the disturbance...
This work proposes the representation of the high level dynamicmodel of a quadrotor UAVwith a suspended load, through Euler-Lagrange equations. The rotorcraft movement is restricted to the XZ plane of the Cartesian space, so that it performs like a PVTOL machine. A nonlinear controller is proposed to stabilize the quadrotor and the load, during positioning and trajectory tracking tasks. Finally, simulated...
This work describes the development of a platform to deal with simulated and real autonomous flights of rotary-wing aircrafts. Such platform (called AuRoRa Platform) was designed for use with commercial miniature helicopters and embeds the instrumentation necessary to autonomously guide the aircraft. Aiming at such objective, an electronic board specific to actuate over the servomotors of the helicopter...
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