Fixed-Time Control for a Quadrotor With a Cable-Suspended Load

被引：38

作者：

Lv, Zongyang ^{[1
]}

Wu, Yuhu ^{[2
]}

Sun, Xi-Ming ^{[2
]}

Wang, Qing-Guo ^{[3
]}

机构：

[1] Dalian Univ Technol, Sch Informat & Commun Engn, Key Lab Intelligent Control & Optimizat Ind Equip, Minist Educ, Dalian 116024, Peoples R China

[2] Dalian Univ Technol, Sch Control Sci & Engn, Key Lab Intelligent Control & Optimizat Ind Equip, Minist Educ, Dalian 116024, Peoples R China

[3] Hong Kong Baptist Univ, Inst Artificial Intelligence & Future Networks, Beijing Normal Univ, United Int Coll, Zhuhai 519087, Peoples R China

来源：

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS | 2022年 / 23卷 / 11期

基金：

中国国家自然科学基金;

关键词：

Fixed-time control; nonlinear control; quadrotor; cable-suspended load; FINITE-TIME; TRACKING; STABILIZATION; PAYLOAD; DESIGN;

D O I：

10.1109/TITS.2022.3180733

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

This paper is concerned with the motion control for a quadrotor with a cable-suspended load (QCSL). A fixed-time control strategy is presented to improve the transient response and robustness of the QCSL with external disturbance. The overall control scheme is designed with a cascade structure to better cope with the underactuated property of the QCSL and the indirect effect of the control force on the load's velocity through the tensile force on the cable. The simulation results are given to demonstrate the performance of the proposed scheme. Furthermore, actual flight tests were performed on a new experimental QCSL to validate the effectiveness of the proposed control strategy.

引用

页码：21932 / 21943

页数：12

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