Robust Geometric Control of Catenary Robots under Unstructured Force Uncertainties
For researchers working on cooperative aerial manipulation with cable-suspended loads, this provides a robust control framework that explicitly handles unstructured uncertainties in catenary forces.
This paper develops a geometric tracking controller for catenary robots (two quadrotors connected by a cable) and proves local input-to-state stability, achieving asymptotic convergence in the nominal case and bounded tracking errors under force perturbations.
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration rather than as an independent dynamical element. The catenary shape determines configuration-dependent forces that couple the translational dynamics of the vehicles. We propose a geometric tracking controller for the relative configuration of the agents and analyze its robustness with respect to unstructured uncertainties in the catenary-induced forces. The main theoretical result establishes local input-to-state stability of the closed-loop tracking errors. In particular, we obtain asymptotic convergence in the nominal case and an explicit ultimate bound for the tracking errors under bounded catenary-force perturbations.