Dual Quaternion Control of UAVs with Cable-suspended Load
Yuxia Yuan,Markus Ryll,Yuxia Yuan,Markus Ryll
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended loads, focusing on the sling load lifting and tracking problems. By utilizing the mathematical efficiency and compactness of dual quaternions, a unified represe...
