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cs.RO2025
Partial Feedback Linearization Control of a Cable-Suspended Multirotor Platform for Stabilization of an Attached Load
Hemjyoti Das, Christian Ott
In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such sys…
cs.RO2025
Learning Swing-up Maneuvers for a Suspended Aerial Manipulation Platform in a Hierarchical Control Framework
Hemjyoti Das, Minh Nhat Vu, Christian Ott
In this work, we present a novel approach to augment a model-based control method with a reinforcement learning (RL) agent and demonstrate a swing-up maneuver with a suspended aeri…
cs.RO2024
Observer-based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform
Hemjyoti Das, Minh Nhat Vu, Tobias Egle +1
In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of t…