Modeling and Control for UAV with Off-center Slung Load
Dept. of Elec. and Comp. Eng. Univ. of Alberta（电子与计算机工程系阿尔伯塔大学）；School of Science, Dalian Minzu University（科学学院大连民族大学）；Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education, and School of Control Science and Engineering, Dalian University of Technology（教育部智能控制与优化工业设备重点实验室，控制科学与工程学院，大连理工大学）
Zongyang Lv, Yanmei Jia, Yongqing Liu, Alan F. Lynch, Qing Zhao, Yuhu Wu
Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission requirements or mechanical interference. This offset creates coupling in the system's nonlinear dynamics which leads to a complicated motion control problem. In existing research, modeling of the system are performed about the UAV's CoM. In this work we use the point of suspension instead. Based on the new model, a cascade control strategy is developed. In the middle-loop controller, the acceleration of the suspension point is used to regulate the swing angle of the slung load without the need for considering the coupling between the slung load and the UAV. An inner-loop controller is designed to track the UAV's attitude without the need of simplification on the coupling effects. We prove local exponential stability of the closed-loop using Lyapunov approach. Finally, simulations and experiments are conducted to validate the proposed control system.
Physics-Informed Neural Network for Multirotor Slung Load Systems Modeling
Institute for Systems and Robotics (ISR)（系统与机器人研究所）；Laboratory of Robotics and Engineering Systems (LARSyS)（机器人与工程系统实验室）；Instituto Superior Técnico（高等技术学院）；University of Lisbon（里斯本大学）；CTS/Uninova（新大学中心技术与系统研究中心）；NOVA School of Science and Technology (FCT-NOVA)（NOVA科学与技术学院）
Passive Fault Tolerance through Tension-to-Thrust Feed-Forward: Hybrid Input-to-State Stability for Decentralized Multi-UAV Slung-Load Transport under Abrupt Cable Severance
Suspended Load Path Tracking Control Using a Tilt-rotor UAV Based on Zonotopic State Estimation
Graduate Program in Electrical Engineering, Federal University of Minas Gerais, Belo Horizonte, MG 31270-901, Brazil（巴西联邦矿务工程师学院电气工程研究生项目）；Department of Electronics Engineering, Federal University of Minas Gerais, Belo Horizonte, MG 31270-901, Brazil（巴西联邦矿务工程师学院电子工程系）
Dual Quaternion Control of UAVs with Cable-suspended Load
Technical University of Munich（慕尼黑工业大学）；School of Engineering and Design（工程与设计学院）；Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所）；Autonomous Aerial Systems（自主航空系统（机构））
Fuzzy Ensembles of Reinforcement Learning Policies for Robotic Systems with Varied Parameters
Khalifa University Center for Autonomous and Robotic Systems (KUCARS), Khalifa University（哈利法大学自主与机器人系统中心（KUCARS），哈利法大学）；Department of Electrical Engineering and Computer Science, Khalifa University（哈利法大学电气工程与计算机科学系）；Department of Aerospace Engineering, Khalifa University（哈利法大学航空航天工程系）
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）
Predictor-Based Time Delay Control of A Hex-Jet Unmanned Aerial Vehicle
School of Intelligent Systems Engineering, Sun Yat-sen University（中山大学智能工程学院）；State Key Laboratory of Robotics and Systems, Harbin Institute of Technology（哈尔滨工业大学机器人与系统国家重点实验室）
Active Informative Planning for UAV-based Weed Mapping using Discrete Gaussian Process Representations
Lincoln Centre for Autonomous Systems (L-CAS)（林肯自主系统中心）；Faculty of Aerospace Engineering, MAVLab（航空航天工程学院）；Delft University of Technology (TU Delft)（代尔夫特理工大学）
Talk Less, Fly Lighter: Autonomous Semantic Compression for UAV Swarm Communication via LLMs
Department of Engineering Science, Faculty of Innovation Engineering, Macau University of Science and Technology（工程科学系，创新工程学院，澳门科学理工学院）；State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences（复杂系统管理与控制国家重点实验室，自动化研究所，中国科学院）
An Event-based Fast Intensity Reconstruction Scheme for UAV Real-time Perception
Hangzhou International Innovation Institute, Beihang University（杭州国际创新院，北京航空航天大学）；School of Aeronautic Science and Engineering, Beihang University（航空科学与工程学院，北京航空航天大学）；Institute of Unmanned System, Beihang University（无人系统研究院，北京航空航天大学）；Tianmushan Laboratory, Xixi Octagon, Yuhang, Hangzhou（天幕实验室，西溪圆，余杭，杭州）
HGIC: A Hand Gesture Based Interactive Control System for Efficient and Scalable Multi-UAV Operations
College of Aeronautics and Engineering, Kent State University（肯特州立大学航空与工程学院）；Department of Computer Science, Kent State University（肯特州立大学计算机科学系）；College of Engineering, Cornell University（康奈尔大学工程学院）；Department of Systems Science and Industrial Engineering, Binghamton University（宾汉姆顿大学系统科学与工业工程系）
AeroResQ: Edge-Accelerated UAV Framework for Scalable, Resilient and Collaborative Escape Route Planning in Wildfire Scenarios
Indian Institute of Science（印度科学研究院）；Information Sciences Institute, University of Southern California（信息科学研究所，南加州大学）；Renaissance Computing Institute, University of North Carolina（复兴计算研究所，北卡罗来纳大学）；University of Massachusetts（马萨诸塞大学）
Hierarchical LLM-Driven Control for HAPS-Assisted UAV Networks: Joint Optimization of Flight and Connectivity
Department of Electrical Engineering and Computer Science, York University（约克大学电气工程与计算机科学系）；Samsung Research America（三星美国研究院）；Department of Software and IT Engineering, École de technologie supérieure (ÉTS), University of Quebec（魁北克大学软件与信息技术工程系，École de technologie supérieure）；Non-Terrestrial Networks (Carleton-NTN) Lab and the Department of Systems and Computer Engineering, Carleton University（非地面网络（Carleton-NTN）实验室和系统与计算机工程系，卡尔顿大学）
