Energy-Based Nonlinear Adaptive Control Design for the Quadrotor UAV System With a Suspended Payload

被引：145

作者：

Yang, Sen ^{[1
]}

Xian, Bin ^{[1
]}

机构：

[1] Tianjin Univ, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2020年 / 67卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Payloads; Control design; Interconnected systems; Stability analysis; Transportation; Adaptive control; Dynamics; Antiswing control; energy-based methodology; quadrotor; suspended-payload; uncertainties;

D O I：

10.1109/TIE.2019.2902834

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, the control problem for an underactuated quadrotor unmanned aerial vehicle (UAV) with a suspended payload is investigated. An energy-based nonlinear controller is proposed that is able to control the quadrotor UAVs position and the payloads swing angle asymptotically. An adaptive control design is developed to compensate for the unknown length of the cable which is used to connect the UAV and the payload. The Lyapunov-based stability analysis is employed together to prove the stability of the closed-loop system. Detailed real-time experimental results illustrate the good performance of the proposed controller.

引用

页码：2054 / 2064

页数：11

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