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...
Uloženo v:
| Vydáno v: | IEEE/ASME transactions on mechatronics Ročník 26; číslo 5; s. 2653 - 2663 |
|---|---|
| Hlavní autoři: | , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
| Vydáno: |
New York
IEEE
01.10.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Témata: | |
| ISSN: | 1083-4435, 1941-014X |
| On-line přístup: | Získat plný text |
| Tagy: |
Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
|
| 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. |
|---|---|
| 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 |
| BookMark | eNp9kE1PAjEQhhuDiYj-Ab008bzY6Qdsj4SgmGD8ANTbptvt6uLSYts98O9dhHjw4GkmmfeZN3lOUcc6axC6ANIHIPJ6cT8ZT_uUUNJnhHNI2RHqguSQEOBvnXYnKUs4Z-IEnYawIoRwINBFr88ub0LEC6_0Z2Xf8djZ6F2NXYkVfmpU4V10Hi_tWllrCjwyvlI1fjEfla5NMm_CxtiiPTyqbe1UgefbEM36DB2Xqg7m_DB7aHkzWYynyezh9m48miWaShGTUg5zSYaC5bnKiRZyIHQOWgkKTMoccs5AmCKVhhpFNSsFE7Jgg5QC1zCgrIeu9n833n01JsRs5Rpv28qMipRSQSAlbYruU9q7ELwps42v1spvMyDZTmD2IzDbCcwOAlso_QPpKqpY7QSpqv4fvdyjlTHmt0tSCVww9g0kNX-D |
| CODEN | IATEFW |
| CitedBy_id | crossref_primary_10_1016_j_conengprac_2025_106564 crossref_primary_10_1109_TIE_2024_3481989 crossref_primary_10_1109_TVT_2021_3096234 crossref_primary_10_1002_rnc_7317 crossref_primary_10_1109_TASE_2024_3437747 crossref_primary_10_1007_s11071_024_09277_5 crossref_primary_10_1109_TIE_2023_3347848 crossref_primary_10_1109_TSMC_2023_3342027 crossref_primary_10_1109_TASE_2024_3434637 crossref_primary_10_1109_TSMC_2025_3539707 crossref_primary_10_1002_rnc_7483 crossref_primary_10_1109_TAES_2022_3221702 crossref_primary_10_1109_TAES_2025_3534741 crossref_primary_10_1109_ACCESS_2025_3533028 crossref_primary_10_1109_TASE_2025_3593468 crossref_primary_10_1002_acs_3779 crossref_primary_10_1016_j_jfranklin_2024_107316 crossref_primary_10_1177_16878132251376247 crossref_primary_10_1109_TCST_2021_3133693 crossref_primary_10_1109_TASE_2025_3592651 crossref_primary_10_1109_TMECH_2023_3300894 crossref_primary_10_1109_TSMC_2023_3263881 crossref_primary_10_1109_TASE_2025_3576292 crossref_primary_10_1007_s10846_023_01904_4 crossref_primary_10_1109_TASE_2022_3211693 crossref_primary_10_1109_TMECH_2024_3458398 crossref_primary_10_1109_LRA_2023_3342557 crossref_primary_10_1109_TCST_2021_3139762 crossref_primary_10_1007_s11071_023_08847_3 crossref_primary_10_1109_TIV_2023_3270165 crossref_primary_10_1016_j_automatica_2025_112123 crossref_primary_10_1002_rnc_6022 crossref_primary_10_1109_TMECH_2023_3279865 crossref_primary_10_1109_TMECH_2023_3234511 crossref_primary_10_1016_j_ast_2022_107510 crossref_primary_10_1016_j_conengprac_2024_106108 crossref_primary_10_1109_ACCESS_2025_3561954 crossref_primary_10_3390_s25144497 crossref_primary_10_1109_TAES_2024_3372487 crossref_primary_10_3390_s23218995 crossref_primary_10_3390_drones8110637 crossref_primary_10_1080_00207721_2023_2268772 crossref_primary_10_1109_TNNLS_2023_3342078 crossref_primary_10_1080_23307706_2025_2451949 crossref_primary_10_1109_TMECH_2022_3192002 crossref_primary_10_1109_TMECH_2022_3164929 crossref_primary_10_1109_TIE_2024_3525144 crossref_primary_10_1109_TFUZZ_2024_3487579 crossref_primary_10_1109_TMECH_2022_3220086 crossref_primary_10_3390_act12040140 crossref_primary_10_1109_TAES_2023_3323427 crossref_primary_10_1002_aisy_202300112 crossref_primary_10_1109_TIE_2025_3536563 crossref_primary_10_1016_j_ast_2025_110255 crossref_primary_10_1002_rnc_6367 crossref_primary_10_1109_TIV_2023_3333888 |
| Cites_doi | 10.1109/TAC.2004.831148 10.1109/TAC.2008.930200 10.1016/j.mechatronics.2018.01.009 10.1109/TMECH.2019.2891083 10.1109/TAC.2019.2945035 10.1109/TAC.2018.2797191 10.1109/CEEC.2016.7835908 10.1109/ACC.2016.7525403 10.1109/TII.2018.2858143 10.1109/TMECH.2020.2978529 10.1016/j.isatra.2017.01.027 10.1109/CDC.2013.6760219 10.1016/j.ast.2013.03.006 10.1109/TIE.2017.2752139 10.1109/TCST.2017.2656060 10.1109/TIE.2015.2420036 10.1007/s10846-017-0509-6 10.1007/s10514-017-9632-2 10.1109/CDC.2018.8618678 10.1109/TAC.2019.2940917 10.1109/ICRA.2013.6631275 10.1109/TIE.2016.2612618 10.15607/RSS.2017.XIII.030 10.1109/ACC.2014.6859419 10.1109/TMECH.2019.2930211 10.1109/ICRA.2015.7139492 10.1109/TRO.2014.2305791 10.1109/IECON.2018.8591527 10.1109/TIE.2014.2364982 10.1109/CYBER.2018.8688168 10.1109/TSMC.2018.2871627 10.1109/LRA.2018.2793305 10.1109/TIE.2019.2902834 10.1016/j.artint.2014.11.009 |
| ContentType | Journal Article |
| Copyright | Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2021 |
| Copyright_xml | – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2021 |
| DBID | 97E RIA RIE AAYXX CITATION 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D |
| DOI | 10.1109/TMECH.2020.3044183 |
| DatabaseName | IEEE All-Society Periodicals Package (ASPP) 2005-present IEEE All-Society Periodicals Package (ASPP) 1998-Present IEEE Electronic Library (IEL) CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional |
| DatabaseTitle | CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional |
| DatabaseTitleList | Technology Research Database |
| Database_xml | – sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1941-014X |
| EndPage | 2663 |
| ExternalDocumentID | 10_1109_TMECH_2020_3044183 9291453 |
| Genre | orig-research |
| GrantInformation_xml | – fundername: National Key R&D Program of China grantid: 2018YFB1403900 funderid: 10.13039/501100013290 – fundername: National Natural Science Foundation of China grantid: 91748121; 90916004 funderid: 10.13039/501100001809 |
| GroupedDBID | -~X 0R~ 29I 4.4 5GY 5VS 6IK 97E 9M8 AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFS ACIWK ACKIV AETIX AGQYO AGSQL AHBIQ AI. AIBXA AKJIK AKQYR ALLEH ALMA_UNASSIGNED_HOLDINGS ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 EBS EJD F5P H~9 IFIPE IFJZH IPLJI JAVBF LAI M43 OCL RIA RIE RNS TN5 VH1 AAYXX CITATION 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D |
| ID | FETCH-LOGICAL-c295t-f97b90753bbab0c5965cb1ca521399b1b4315ed89e2ea2c3f5359d368214c1623 |
| IEDL.DBID | RIE |
| ISICitedReferencesCount | 73 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000707442500040&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 1083-4435 |
| IngestDate | Mon Jun 30 10:17:08 EDT 2025 Tue Nov 18 21:15:24 EST 2025 Sat Nov 29 06:33:11 EST 2025 Wed Aug 27 02:26:48 EDT 2025 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 5 |
| Language | English |
| License | https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c295t-f97b90753bbab0c5965cb1ca521399b1b4315ed89e2ea2c3f5359d368214c1623 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 |
| ORCID | 0000-0002-8018-5089 0000-0002-6481-2134 |
| PQID | 2582250180 |
| PQPubID | 85420 |
| PageCount | 11 |
| ParticipantIDs | crossref_primary_10_1109_TMECH_2020_3044183 ieee_primary_9291453 proquest_journals_2582250180 crossref_citationtrail_10_1109_TMECH_2020_3044183 |
| PublicationCentury | 2000 |
| PublicationDate | 2021-Oct. 2021-10-00 20211001 |
| PublicationDateYYYYMMDD | 2021-10-01 |
| PublicationDate_xml | – month: 10 year: 2021 text: 2021-Oct. |
| PublicationDecade | 2020 |
| PublicationPlace | New York |
| PublicationPlace_xml | – name: New York |
| PublicationTitle | IEEE/ASME transactions on mechatronics |
| PublicationTitleAbbrev | TMECH |
| PublicationYear | 2021 |
| Publisher | IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher_xml | – name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| References | ref13 ref12 ref34 ref15 ref14 ref31 ref30 ref11 ref33 ref10 ref32 ref2 ref1 ref17 ref16 ref19 ref18 ref24 ref23 ref26 ref25 ref20 ref22 ref21 ref28 ref27 ref29 ref8 ref7 ref9 ref4 ref3 ref6 ref5 |
| References_xml | – ident: ref26 doi: 10.1109/TAC.2004.831148 – ident: ref27 doi: 10.1109/TAC.2008.930200 – ident: ref9 doi: 10.1016/j.mechatronics.2018.01.009 – ident: ref16 doi: 10.1109/TMECH.2019.2891083 – ident: ref24 doi: 10.1109/TAC.2019.2945035 – ident: ref6 doi: 10.1109/TAC.2018.2797191 – ident: ref12 doi: 10.1109/CEEC.2016.7835908 – ident: ref17 doi: 10.1109/ACC.2016.7525403 – ident: ref30 doi: 10.1109/TII.2018.2858143 – ident: ref22 doi: 10.1109/TMECH.2020.2978529 – ident: ref14 doi: 10.1016/j.isatra.2017.01.027 – ident: ref19 doi: 10.1109/CDC.2013.6760219 – ident: ref10 doi: 10.1016/j.ast.2013.03.006 – ident: ref15 doi: 10.1109/TIE.2017.2752139 – ident: ref4 doi: 10.1109/TCST.2017.2656060 – ident: ref32 doi: 10.1109/TIE.2015.2420036 – ident: ref20 doi: 10.1007/s10846-017-0509-6 – ident: ref2 doi: 10.1007/s10514-017-9632-2 – ident: ref11 doi: 10.1109/CDC.2018.8618678 – ident: ref23 doi: 10.1109/TAC.2019.2940917 – ident: ref18 doi: 10.1109/ICRA.2013.6631275 – ident: ref34 doi: 10.1109/TIE.2016.2612618 – ident: ref3 doi: 10.15607/RSS.2017.XIII.030 – ident: ref1 doi: 10.1109/ACC.2014.6859419 – ident: ref25 doi: 10.1109/TMECH.2019.2930211 – ident: ref8 doi: 10.1109/ICRA.2015.7139492 – ident: ref28 doi: 10.1109/TRO.2014.2305791 – ident: ref13 doi: 10.1109/IECON.2018.8591527 – ident: ref29 doi: 10.1109/TIE.2014.2364982 – ident: ref31 doi: 10.1109/CYBER.2018.8688168 – ident: ref5 doi: 10.1109/TSMC.2018.2871627 – ident: ref21 doi: 10.1109/LRA.2018.2793305 – ident: ref33 doi: 10.1109/TIE.2019.2902834 – ident: ref7 doi: 10.1016/j.artint.2014.11.009 |
| SSID | ssj0004101 |
| Score | 2.5705066 |
| Snippet | In this article, the control problem for the underactuated dynamic system, which consists of a quadrotor unmanned aerial vehicle and a suspended payload is... |
| SourceID | proquest crossref ieee |
| SourceType | Aggregation Database Enrichment Source Index Database Publisher |
| StartPage | 2653 |
| 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 |
| URI | https://ieeexplore.ieee.org/document/9291453 https://www.proquest.com/docview/2582250180 |
| Volume | 26 |
| WOSCitedRecordID | wos000707442500040&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVIEE databaseName: IEEE Electronic Library (IEL) customDbUrl: eissn: 1941-014X dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0004101 issn: 1083-4435 databaseCode: RIE dateStart: 19960101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV07T8MwED61FQMMvBHlJQ9sEBoncRKPqKJigIpHW9givyKQoEFtw-_n7KQFBEJiy-CLojvb932XewAcM6rjiIvIS2LlolXUS6VSnmbIiHwmdeqq-EdXSb-fPj7ymwacLmphjDEu-cyc2Uf3L18XqrShsg66chqxsAnNJEmqWq3PGkjqRh1ThBRehBhgXiDj887g-qJ7iVQwQIbqo_tPw29OyE1V-XEVO__SW_vfl63Dao0jyXll-A1omPEmrHzpLrgFD3eFLKczgu5I2YA46VZp6aTIiSC3pdCTAhk3GY5fhb1tybnbjWRknuw7vfty6gbkanJjab3QpGpvvg3D3sWge-nVcxQ8FXA283KeSOTALJRSSF8xHjMlqRLouRGeSCoRRDCDVjGBEYEKcxYyrsM4DWikKOKjHWiNi7HZBSJ4lFsSpSXTUU5TQVFMaCr9SMS-DtpA54rNVN1k3M66eMkc2fB55oyRWWNktTHacLKQeatabPy5esuqf7Gy1nwbDub2y-pTOM0ChvDHdiz0936X2oflwOaouOS8A2jNJqU5hCX1PnueTo7cBvsAvAbLyg |
| linkProvider | IEEE |
| linkToHtml | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LT9tAEB5RqFR64I1Iee2BW3Hxrncd7zGKQEEkEdBAuVn7skCCGCVxf39n107aqhUSNx92LGtmd-f7xvMAOBHUplwqHrVTE6JVNMq0MZEVyIhioW0Wqvjv--3hMHt4kNdLcLqohXHOheQz980_hn_5tjSVD5WdoSunXCQfYEVwzmhdrfW7CpKGYccUQUXEEQXMS2RieTYanHd7SAYZctQYAUCW_OWGwlyVfy7j4GEu1t_3bRuw1iBJ0qlNvwlLbrwFn__oL7gNP25LXU1nBB2S8SFx0q0T00lZEEVuKmUnJXJucjd-Uf6-JZ2wH8m9e_TvjL5X0zAi15JrT-yVJXWD8x24uzgfdXtRM0khMkyKWVTItkYWLBKtlY6NkKkwmhqFvhsBiqYaYYRwaBfHnGImKUQipE3SjFFuKCKkXVgel2O3B0RJXngaZbWwvKCZoiimLNUxV2lsWQvoXLG5adqM-2kXz3mgG7HMgzFyb4y8MUYLvi5kXusmG2-u3vbqX6xsNN-Cg7n98uYcTnMmEAD5noXxl_9LHcOn3mjQz_uXw6t9WGU-YyWk6h3A8mxSuUP4aH7OnqaTo7DZfgGA4M8R |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Robust+Tracking+Control+of+a+Quadrotor+Unmanned+Aerial+Vehicle-Suspended+Payload+System&rft.jtitle=IEEE%2FASME+transactions+on+mechatronics&rft.au=Xian%2C+Bin&rft.au=Yang%2C+Sen&rft.date=2021-10-01&rft.issn=1083-4435&rft.eissn=1941-014X&rft.volume=26&rft.issue=5&rft.spage=2653&rft.epage=2663&rft_id=info:doi/10.1109%2FTMECH.2020.3044183&rft.externalDBID=n%2Fa&rft.externalDocID=10_1109_TMECH_2020_3044183 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1083-4435&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1083-4435&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1083-4435&client=summon |