Exponential Regulation Control of a Quadrotor Unmanned Aerial Vehicle With a Suspended Payload

This brief focuses on the control design for the aerial cargo transportation system that consists of a quadrotor unmanned aerial vehicle (UAV) and a cable-suspended payload. The underactuated properties associated with the system dynamics bring great challenges for the control development. Partial f...

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Veröffentlicht in:IEEE transactions on control systems technology Jg. 28; H. 6; S. 2762 - 2769
Hauptverfasser: Yang, Sen, Xian, Bin
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.11.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Aerial load transportation
antiswing control
Attitude control
Control design
Convergence
exponential control
Feedback control
Feedback linearization
Motion stability
Nonlinear control
Payloads
Position errors
quadrotor
Stability analysis
suspended load
System dynamics
Transportation systems
Unmanned aerial vehicles
Unmanned helicopters
ISSN:1063-6536, 1558-0865
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Zusammenfassung:This brief focuses on the control design for the aerial cargo transportation system that consists of a quadrotor unmanned aerial vehicle (UAV) and a cable-suspended payload. The underactuated properties associated with the system dynamics bring great challenges for the control development. Partial feedback linearization methodology is employed to formulate a nonlinear controller that yields an exponential regulation result of the quadrotor UAV position, while the swing motion of the payload is suppressed exponentially fast. A Lyapunov-based stability analysis is included to prove the convergence of the position error and the local exponential stability of the closed-loop system. Real-time experiments are performed on a self-built UAV testbed to validate the performance of the proposed control strategy.
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ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2019.2952826