@conference {2017g-TogYueBuoFra,
	title = {Dynamic Decentralized Control for Protocentric Aerial Manipulators},
	booktitle = {2017 IEEE Int. Conf. on Robotics and Automation},
	year = {2017},
	month = {05/2017},
	pages = {6375-6380},
	address = {Singapore},
	abstract = {We present a control methodology for underactuated aerial manipulators that is both easy to implement on real systems and able to achieve highly dynamic behaviors. The method is composed by two parts: i) a nominal input/state trajectory generator that takes into account the full-body dynamics of the system exploiting its differential flatness property; ii) a decentralized feedback controller acting on the actuated degrees of freedom that confers the needed robustness to the closed-loop system. We demonstrate that the proposed controller is able to precisely track dynamic trajectories when implemented on a standard hardware. Comparative experiments clearly show the benefit of using the nominal input/state generator.},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2017g-TogYueBuoFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2017g-TogYueBuoFra.mp4},
	author = {Marco Tognon and Burak Y{\"u}ksel and Gabriele Buondonno and Antonio Franchi}
}
