Vision-Based Control of an Unknown Suspended Payload with a Multirotor
J. F. Slabber,H. W. Jordaan,J. F. Slabber,H. W. Jordaan
This paper presents a vision-based control strategy for a rotary-wing unmanned aerial vehicle (RUAV) transporting an unknown suspended payload. The suspended payload parameters, which include its mass and cable length, are unknown and direct measurements of its states are not available. A feedforward-feedback adaptive control strategy, that consists of a notch filter and linear quadratic Gaussian ...
