This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, the work sheds light on the impact of the uncertain knowledge of the model parameters available to an established communication-less force-based controller. First, we find the closed-loop equilibrium configurations in the presence of the aforementioned uncertainties, and then we study their stability. Hence, we show the fundamental role played in the robustness of the load attitude control by the internal force induced in the manipulated object by non-vertical cables. Furthermore, we formally study the sensitivity of the attitude error to such parametric variations, and we provide a method to act on the load position error in the presence of the uncertainties. Eventually, we validate the results through an extensive set of numerical tests in a realistic simulation environment including underactuated aerial vehicles and sagging-prone cables, and through hardware experiments.
Nonlinear Predictive Control of the Continuum and Hybrid Dynamics of a Suspended Deformable Cable for Aerial Pick and Place
Department of Computer, Control and Management Engineering, Sapienza University of Rome（计算机、控制与管理工程系，罗马萨皮恩扎大学）；Robotics and Mechatronics Department, Electrical Engineering, Mathematics, and Computer Science (EEMCS) Faculty, University of Twente（机器人与机电系，电气工程、数学与计算机科学（EEMCS） faculty，特文特大学）
Aerial Transportation Control of Suspended Payloads with Multiple Agents
Center for Research in Mathematics CIMAT AC（数学研究中心CIMAT AC）；Investigadores CONACYT at Center for Research in Mathematics CIMAT AC（墨西哥国家科学技术委员会研究员（任职于数学研究中心CIMAT AC））；Sorbonne Universitès（索邦大学）；Université de Technologie de Compiègne（贡比涅技术大学）；CNRS（法国国家科学研究中心）；Heudiasyc UMR 7253（赫迪亚西实验室UMR 7253）
Agile and Cooperative Aerial Manipulation of a Cable-Suspended Load
Delft University of Technology（代尔夫特理工大学）；Sorbonne Université（索邦大学）；University of Twente（埃因霍温理工大学）；Sapienza University of Rome（罗马萨皮恩扎大学）；Univ Rennes, CNRS, Inria, IRISA, France（里昂大学，CNRS，Inria，IRISA，法国）
Payload trajectory tracking control for aerial transportation systems with cable length online optimization
Institute of Robotics and Automatic Information System, College of Artificial Intelligence（机器人与自动化信息系统研究所，人工智能学院）；Tianjin Key Laboratory of Intelligent Robotics, Nankai University（天津智能机器人重点实验室，南开大学）；Institute of Intelligence Technology and Robotic Systems（智能技术与机器人系统研究所）；Shenzhen Research Institute of Nankai University（南开大学深圳研究院）
