Abstract
Dynamics and control characteristics of a quadrotor heavy lift airship with a sling load are determined while the vehicle is hovering in a turbulent cross wind. Results are presented which show the significance of the dynamic coupling between the vehicle and payload in their response to wind disturbances and control inputs. Typical characteristics of a closed-loop control system and its ability to limit the excursions of the vehicle and payload during loading or unloading are also examined.
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