Precise Position Control of a Multi-rotor UAV with a Cable-suspended Mechanism During Water Sampling
Fotis Panetsos,George C. Karras,Sotirios N. Aspragkathos,Kostas J. Kyriakopoulos,Fotis Panetsos,George C. Karras,Sotirios N. Aspragkathos,Kostas J. Kyriakopoulos
This paper addresses the problem of water sampling by using a multirotor UAV with a cable-suspended mechanism. In order to ensure the safe execution of the sampling procedure and the stabilization of the vehicle, the disturbances, induced by the water flow and transferred through the cable, have to be identified. Specifically, an estimate of the disturbances is extracted by integrating a depth sen...
