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cs.RO2019
Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control
Prasanth Kotaru, Koushil Sreenath
Using quadrotors UAVs for cooperative payload transportation using cables has been actively gaining interest in recent years. Understanding the dynamics of these complex multi-agen…
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…