Adaptive Control for a Quadrotor Transporting a Cable-Suspended Payload With Unknown Mass in the Presence of Rotor Downwash

被引：25
作者：
Lv, Zong-Yang [1 ,2 ]
Li, Shengming [3 ]
Wu, Yuhu [1 ,2 ]
Wang, Qing-Guo [4 ,5 ]
机构：
[1] Dalian Univ Technol, Key Lab Intelligent Control & Optimizat Ind Equip, Minist Educ, Dalian 116024, Peoples R China
[2] Dalian Univ Technol, Sch Control Sci & Engn, Dalian 116024, Peoples R China
[3] Dalian Univ Technol, Sch Innovat & Entrepreneurship, Dalian 116024, Peoples R China
[4] Beijing Normal Univ, Inst Artificial Intelligence & Future Networks, Zhuhai 519087, Peoples R China
[5] BNU HKBU United Int Coll, Zhuhai 519087, Peoples R China
来源：
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY | 2021年 / 70卷 / 09期
基金：
中国国家自然科学基金;
关键词：
Payloads; Rotors; Force; Uncertainty; Vehicle dynamics; Dynamics; Gyroscopes; Adaptive control; quadrotor UAV; cable-suspended payload; asymptotical stability; rotor downwash; LOAD; ATTENUATION;
D O I：
10.1109/TVT.2021.3096234
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper investigates the control problem for a quadrotor with a cable-suspended payload (QCSP). A new adaptive control strategy is designed to control the velocity of a volumetric payload with unknown mass in the presence of rotor downwash. The asymptotic stability of the resulting closed-loop system is analysed via the Lyapunov method. Furthermore, a novel structure is designed to suspend the payload on the quadrotor by a cable, and a gyroscope is installed on this structure to measure the payload's swing angle. The designed controller's performance is demonstrated by simulations implemented in a Simulink/SimMechanics environment. The effectiveness of the proposed control scheme is validated in real experiments.
引用
收藏
页码：8505 / 8518
页数：14
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