This is the repository for re-implementation of Longhao Qian's controllers for Multirotor Slung Load Transport Systems.
This code is written with ROS 2 compatibility in mind, and thus is built with colcon.
colcon build --merge-install- Dynamics and control of a quadrotor with a cable suspended payload
- Modelled the system dynamics of a single-vehicle slung load transport system and designed basic translational motion controller
@inproceedings{qian2017dynamics,
title={Dynamics and control of a quadrotor with a cable suspended payload},
author={Qian, Longhao and Liu, Hugh HT},
booktitle={2017 IEEE 30th Canadian Conference on Electrical and Computer Engineering (CCECE)},
pages={1--4},
year={2017},
organization={IEEE}
}- Path-following control of a quadrotor UAV with a cable-suspended payload under wind disturbances
- Designed a UDE-based path-following controller for a single-vehicle slung load transport system operating under wind disturbanes
@article{qian2019path,
title={Path-following control of a quadrotor UAV with a cable-suspended payload under wind disturbances},
author={Qian, Longhao and Liu, Hugh HT},
journal={IEEE Transactions on Industrial Electronics},
volume={67},
number={3},
pages={2021--2029},
year={2019},
publisher={IEEE}
}- Path following control of multiple quadrotors carrying a rigid-body slung payload
- Modelled the system dynamics of a multi-vehicle slung load transport system and designed a path-following controller for which
@inproceedings{qian2019path,
title={Path following control of multiple quadrotors carrying a rigid-body slung payload},
author={Qian, Longhao and Liu, Hugh H},
booktitle={AIAA Scitech 2019 Forum},
pages={1172},
year={2019}
}