Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Proofs of Control of a Quadrotor and a Ground Vehicle Manipulating an
  Object   This paper focuses on the control of a cooperative system composed of an
Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating
an object. The two units are subject to input saturations and collaborate to
move the object to a desired pose characterized by its position and
inclination. The dynamics are derived using Euler-Lagrange method. A
pre-stabilizing control law is proposed where the UGV is tasked to deploy the
object to a certain position whereas the UAV adjusts its inclination. In
particular, a proportional-derivative control law is proposed for the UGV, and
a cascade control approach is used for the UAV, where the inner loop controls
the attitude of the UAV and the outer loop stabilizes the inclination of the
object. Then, we prove the stability of the points of equilibrium using small
gain arguments. To ensure constraints satisfaction at all times, a reference
governor unit is added to the pre-stabilizing control scheme. Finally,
numerical results combined with experimental results are provided to validate
the effectiveness of the proposed control scheme in practice.

34
The categories of this paper are: chem-ph
12
The categories of this paper are: nucl-th
29
The categories of this paper are: funct-an
6
The categories of this paper are: astro-ph
3
The categories of this paper are: physics
36
The categories of this paper are: cmp-lg
11
The categories of this paper are: hep-lat
31
The categories of this paper are: ao-sci
27
The categories of this paper are: comp-gas
20
The categories of this paper are: acc-phys
17
The categories of this paper are: q-fin
26
The categories of this paper are: bayes-an
15
The categories of this paper are: nucl-ex
18
The categories of this paper are: econ
32
The categories of this paper are: atom-ph
33
The categories of this paper are: plasm-ph