Cartesian Impedance Control of Quadrotor with a Robotic Arm
This paper derives a full dynamic model of UAV with a robotic arm and implements the following controlller:
A very similar control and dynamics can be found in my paper: Thapa S., Bai H. and Acosta J.A. Cooperative Aerial Load Transport with Force Control. IFAC Workshop on Networked & Autonomous Air & Space Systems, June, 2018
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