Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform
Hemjyoti Das,Minh Nhat Vu,Tobias Egle,Christian Ott,Hemjyoti Das,Minh Nhat Vu,Tobias Egle,Christian Ott
In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double pendulum. A state estimator is designed in order to obtain the deflection angles of the platform, which uses only onboard IMU measurements. The state estimator is an ex...
