Energy-Based Nonlinear Adaptive Control Design for the Quadrotor UAV System With a Suspended Payload

In this paper, the control problem for an underactuated quadrotor unmanned aerial vehicle (UAV) with a suspended payload is investigated. An energy-based nonlinear controller is proposed that is able to control the quadrotor UAV's position and the payload's swing angle asymptotically. An a...

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Vydané v:IEEE transactions on industrial electronics (1982) Ročník 67; číslo 3; s. 2054 - 2064
Hlavní autori: Yang, Sen, Xian, Bin
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: New York IEEE 01.03.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
Adaptive control
Antiswing control
Control design
Controllers
Dynamics
energy-based methodology
Feedback control
Interconnected systems
Nonlinear control
Payloads
quadrotor
Stability analysis
suspended-payload
Transportation
uncertainties
Unmanned aerial vehicles
Unmanned helicopters
ISSN:0278-0046, 1557-9948
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Popis
Shrnutí:In this paper, the control problem for an underactuated quadrotor unmanned aerial vehicle (UAV) with a suspended payload is investigated. An energy-based nonlinear controller is proposed that is able to control the quadrotor UAV's position and the payload's swing angle asymptotically. An adaptive control design is developed to compensate for the unknown length of the cable which is used to connect the UAV and the payload. The Lyapunov-based stability analysis is employed together to prove the stability of the closed-loop system. Detailed real-time experimental results illustrate the good performance of the proposed controller.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2019.2902834