Yuxia Yuan

2 accepted papers

2026

NDO-Based Dual Quaternion Control of a Drone with a Cable-Suspended Load

Yuxia Yuan, Junjie Kang, Jinjun Shan, Markus Ryll

ICRA 2026poster

This paper proposes a novel nonlinear disturbance observer (NDO) based dual quaternion dynamics modeling and control framework for a drone with a cable-suspended load. Leveraging dual quaternions, a compact and singularity-free mathematical representation, we derive a unified dynamic model that capt…

Cited by 0 Scholar ↗

2024

Dual Quaternion Control of UAVs with Cable-suspended Load

Yuxia Yuan, Markus Ryll

ICRA 2024poster

Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended loads, focusing on the sling load lifting and tracking probl…

Cited by 5 Source ↗Scholar ↗