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

被引：37
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.
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页数：14
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