Finite-time control design for a quadrotor transporting a slung load

被引：46

作者：

Lv, Zongyang ^{[1
,2
]}

Zhao, Qing ^{[3
]}

Li, Shengming ^{[4
]}

Wu, Yuhu ^{[1
,2
]}

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] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB T6G 1H9, Canada

[4] Dalian Univ Technol, Sch Innovat & Entrepreneurship, Dalian 116024, Peoples R China

来源：

CONTROL ENGINEERING PRACTICE | 2022年 / 122卷

基金：

中国国家自然科学基金;

关键词：

Finite-time control; Cascade system; Quadrotor; Slung load; NONLINEAR-SYSTEMS; TRACKING; MANIPULATION; STABILITY; FEEDBACK;

D O I：

10.1016/j.conengprac.2022.105082

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a nonlinear finite-time control strategy to solve the motion control problem for a quadrotor with a slung load (QSL). This work aims to realize high-performance motion control for the QSL, even in perturbations. To improve the dynamic performance and the robustness of the QSL system, a novel nonlinear controller is designed with cascade structure. The finite-time stability of the resulting closed-loop system is theoretically analyzed in this work. Furthermore, the advantages of the proposed control strategy are demonstrated by comparison results with different strategies through simulations in MATLAB/SimMechanics. Finally, the effectiveness of the proposed controller is verified in actual experiments on a specially designed experimental QSL.

引用

页数：14

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