Necessary and Sufficient Conditions to the Problem of Input-Output Extension of Internally Controlled Underactuated Nonlinear Systems

no code implementations • 5 Mar 2024 • Mirko Mizzoni, Amr Afifi, Antonio Franchi

Such controller may control in practice only a subset of the total degrees-of-freedom of the system.

Equilibria, Stability, and Sensitivity for the Aerial Suspended Beam Robotic System subject to Parameter Uncertainty

no code implementations • 14 Feb 2023 • Chiara Gabellieri, Marco Tognon, Dario Sanalitro, Antonio Franchi

Furthermore, we formally study the sensitivity of the attitude error to such parametric variations, and we provide a method to act on the load position error in the presence of the uncertainties.

Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories

no code implementations • 6 Dec 2017 • Matthias Faessler, Antonio Franchi, Davide Scaramuzza

In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading.

Robotics