Cartesian_Impedance_Control_Aerial_Manipulator

This paper derives a full dynamic model of UAV with a robotic arm and implements the following controlller:

V. Lippiello and F. Ruggiero, Cartesian impedance control of a UAV with a robotic arm, in 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, Sep 2012.

Name		Name	Last commit message	Last commit date
Latest commit History 3 Commits
Adaptive_C.slx		Adaptive_C.slx
C_Matrix_vars.m		C_Matrix_vars.m
C_matrix_dynamics.m		C_matrix_dynamics.m
Dyn1.m		Dyn1.m
DynAdpC.m		DynAdpC.m
G_Matrix.m		G_Matrix.m
Jdot_Matrix.m		Jdot_Matrix.m
OdeDyn1.m		OdeDyn1.m
README.md		README.md
Script_AdpC.m		Script_AdpC.m
dyn.m		dyn.m
ex1.m		ex1.m
hat.m		hat.m
odeAdpC.m		odeAdpC.m
vee.m		vee.m

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