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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Bibliographic Details

Published in:	IEEE/ASME transactions on mechatronics Vol. 26; no. 5; pp. 2653 - 2663
Main Authors:	Xian, Bin, Yang, Sen
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.10.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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 Access:	Get full text
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