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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| Published in: | IEEE/ASME transactions on mechatronics Vol. 26; no. 5; pp. 2653 - 2663 |
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| Main Authors: | , |
| Format: | Journal Article |
| Language: | English |
| Published: |
New York
IEEE
01.10.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects: | |
| ISSN: | 1083-4435, 1941-014X |
| Online Access: | Get full text |
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| Abstract | 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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| AbstractList | 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. |
| Author | Yang, Sen Xian, Bin |
| Author_xml | – sequence: 1 givenname: Bin orcidid: 0000-0002-8018-5089 surname: Xian fullname: Xian, Bin email: xbin@tju.edu.cn organization: School of Electrical and Information Engineering, Tianjin University, Tianjin, China – sequence: 2 givenname: Sen orcidid: 0000-0002-6481-2134 surname: Yang fullname: Yang, Sen email: yangsen1991@tju.edu.cn organization: School of Electrical and Information Engineering, Tianjin University, Tianjin, China |
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| SubjectTerms | 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 |
| Title | Robust Tracking Control of a Quadrotor Unmanned Aerial Vehicle-Suspended Payload System |
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