2023
UDE-Based Robust Control of a Quadrotor-Slung-Load System
RA-L 2023
This letter addresses the robust trajectory tracking problem for a Quadrotor-Slung-Load System (QSLS), which consists of a point-mass load and a rigid-body quadrotor connected by an inelastic cable. To construct the controller, we employ the backstepping technique and propose an Uncertainty and Dist