@article {2020b-SanSavTogCorFra, title = {Full-pose Manipulation Control of a Cable-suspended load with Multiple UAVs under Uncertainties}, journal = {IEEE Robotics and Automation Letters}, volume = {5}, year = {2020}, month = {04/2020}, pages = {2185-2191}, abstract = {In this work, we propose an uncertainty-aware controller for the Fly-Crane system, a statically rigid cable-suspended aerial manipulator using the minimum number of aerial robots and cables. The force closure property of the Fly- Crane makes it ideal for applications where high precision is required and external disturbances should be compensated. The proposed control requires the knowledge of the nominal values of a minimum number of uncertain kinematic parameters, thus simplifying the identification process and the controller implementation. We propose an optimization-based tuning method of the control gains that ensures stability despite parameter uncertainty and maximizes the H$\infty$ performance. The validity of the proposed framework is shown through real experiments.}, doi = {10.1109/LRA.2020.2969930}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020b-SanSavTogCorFra.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2020b-SanSavTogCorFra.mp4}, author = {Dario Sanalitro and Heitor J. Savino and Marco Tognon and Juan Cort{\'e}s and Antonio Franchi} }