Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor
Yuri S. Sarkisov,Min Jun Kim,Andre Coelho,Dzmitry Tsetserukou,Christian Ott,Konstantin Kondak,Yuri S. Sarkisov,Min Jun Kim,Andre Coelho,Dzmitry Tsetserukou,Christian Ott,Konstantin Kondak
This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact that there is only one onboard IMU sensor which does not provide full information on the system state. To overcome this difficulty, we design a controller motivate...
