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math.OC2019★ 1 cited
Geometric L1 Adaptive Attitude Control for a Quadrotor Unmanned Aerial Vehicle
Prasanth Kotaru, Ryan Edmonson, Koushil Sreenath
In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles…
math.OC2017
Differential-Flatness and Control of Quadrotor(s) with a Payload Suspended through Flexible Cable(s)
Prasanth Kotaru, Guofan Wu, Koushil Sreenath
We present the coordinate-free dynamics of three different quadrotor systems : (a) single quadrotor with a point-mass payload suspended through a flexible cable; (b) multiple quadr…