Robust Geometric Control of Catenary Robots under Unstructured Force Uncertainties
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arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866914520479301632 |
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| author | Simoes, Alexandre Anahory Colombo, Leonardo |
| author_facet | Simoes, Alexandre Anahory Colombo, Leonardo |
| contents | This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration rather than as an independent dynamical element. The catenary shape determines configuration-dependent forces that couple the translational dynamics of the vehicles. We propose a geometric tracking controller for the relative configuration of the agents and analyze its robustness with respect to unstructured uncertainties in the catenary-induced forces. The main theoretical result establishes local input-to-state stability of the closed-loop tracking errors. In particular, we obtain asymptotic convergence in the nominal case and an explicit ultimate bound for the tracking errors under bounded catenary-force perturbations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_27705 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Robust Geometric Control of Catenary Robots under Unstructured Force Uncertainties Simoes, Alexandre Anahory Colombo, Leonardo Systems and Control Optimization and Control This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration rather than as an independent dynamical element. The catenary shape determines configuration-dependent forces that couple the translational dynamics of the vehicles. We propose a geometric tracking controller for the relative configuration of the agents and analyze its robustness with respect to unstructured uncertainties in the catenary-induced forces. The main theoretical result establishes local input-to-state stability of the closed-loop tracking errors. In particular, we obtain asymptotic convergence in the nominal case and an explicit ultimate bound for the tracking errors under bounded catenary-force perturbations. |
| title | Robust Geometric Control of Catenary Robots under Unstructured Force Uncertainties |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2604.27705 |