Prasanth Kotaru
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View article: Tethered Power for a Series of Quadcopters: Analysis and Applications
Tethered Power for a Series of Quadcopters: Analysis and Applications Open
Tethered quadcopters are used for extended flight operations where the power to the system is provided via a tether connected to an external power source. In this work, we consider a system of multiple quadcopters powered by a single tethe…
View article: Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control
Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control Open
View article: Multiple quadrotors carrying a flexible hose: dynamics, differential\n flatness and control
Multiple quadrotors carrying a flexible hose: dynamics, differential\n flatness and control Open
Using quadrotors UAVs for cooperative payload transportation using cables has\nbeen actively gaining interest in recent years. Understanding the dynamics of\nthese complex multi-agent systems would help towards designing safe and\nreliable…
View article: Geometric L1 Adaptive Attitude Control for a Quadrotor UAV
Geometric L1 Adaptive Attitude Control for a Quadrotor UAV Open
In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is shown to exhibit robustness and precise att…
View article: Geometric L1 Adaptive Attitude Control for a Quadrotor Unmanned Aerial Vehicle
Geometric L1 Adaptive Attitude Control for a Quadrotor Unmanned Aerial Vehicle Open
In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is shown to exhibit robustness and precise att…
View article: Differential-flatness and control of quadrotor(s) with a payload suspended through flexible cable(s)
Differential-flatness and control of quadrotor(s) with a payload suspended through flexible cable(s) Open
We present the coordinate-free dynamics of three different quadrotor systems : (a) single quadrotor with a point-mass payload suspended through a flexible cable; (b) multiple quadrotors with a shared point-mass payload suspended through fl…
View article: Differential-Flatness and Control of Quadrotor(s) with a Payload\n Suspended through Flexible Cable(s)
Differential-Flatness and Control of Quadrotor(s) with a Payload\n Suspended through Flexible Cable(s) Open
We present the coordinate-free dynamics of three different quadrotor systems\n: (a) single quadrotor with a point-mass payload suspended through a flexible\ncable; (b) multiple quadrotors with a shared point-mass payload suspended\nthrough…