@article {75,
	title = {Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties},
	journal = {IEEE Robotics and Automation Letters},
	volume = {5},
	year = {2020},
	month = {2020/01},
	pages = {2185-2191},
	abstract = {<p>In this work we propose an uncertainty-aware controller for the Fly-crane system, a statically rigid cable-suspended aerial manipulator using the minimum number of aerial robots and cables. The force closure property of the Fly-crane makes it ideal for applications where high precision is required and external disturbances should be compensated. The proposed control requires the knowledge of the nominal values of a minimum number of uncertain kinematic parameters, thus simplifying the identification process and the controller implementation. We propose an optimization-based tuning method of the control gains that ensures stability despite parameter uncertainty and maximizes the H$\infty$ performance. The validity of the proposed framework is shown through real experiments.</p>},
	keywords = {aerial robotic manipulation, cable-suspended aerial manipulator, cable-suspended load, fly-crane system, full-pose manipulation control, multi-robot systems, uncertainty-aware controller},
	issn = {2377-3766},
	doi = {10.1109/LRA.2020.2969930},
	author = {Dario Sanalitro and Heitor J. Savino and Marco Tognon and Juan Cort{\'e}s and Antonio Franchi}
}
