Robust Tracking Control of a Quadrotor Unmanned Aerial Vehicle-Suspended Payload System

In this article, the control problem for the underactuated dynamic system, which consists of a quadrotor unmanned aerial vehicle and a suspended payload is investigated under the effects of unknown exogenous disturbances. A novel nonlinear controller based on the robust integral of the sign of the e...

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Veröffentlicht in:IEEE/ASME transactions on mechatronics Jg. 26; H. 5; S. 2653 - 2663
Hauptverfasser: Xian, Bin, Yang, Sen
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.10.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Antiswing control
Asymptotic stability
Control design
Feedback control
Nonlinear control
Payloads
Robust control
Stability analysis
suspended payload
Tracking control
Trajectory
Trajectory control
unmanned aerial vehicle (UAV)
Unmanned aerial vehicles
Unmanned helicopters
ISSN:1083-4435, 1941-014X
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Beschreibung
Zusammenfassung:In this article, the control problem for the underactuated dynamic system, which consists of a quadrotor unmanned aerial vehicle and a suspended payload is investigated under the effects of unknown exogenous disturbances. A novel nonlinear controller based on the robust integral of the sign of the error is developed to deal with the position trajectory tracking control and the antiswing control of the suspended payload with the presence of unknown air turbulence. The Lyapunov-based stability analysis is employed to prove the asymptotic stability of the closed-loop system. The real-time experimental results are presented to verify the performance of the proposed control design.
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content type line 14
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2020.3044183