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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Bibliographische Detailangaben

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
Online-Zugang:	Volltext
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