Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 67, Issue 3, Pages 2054-2064Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2019.2902834
Keywords
Payloads; Control design; Interconnected systems; Stability analysis; Transportation; Adaptive control; Dynamics; Antiswing control; energy-based methodology; quadrotor; suspended-payload; uncertainties
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Funding
- National Natural Science Foundation of China [91748121, 90916004, 60804004]
- Natural Science Foundation of Tianjin [14JCZDJC31900]
- Key project of Tianjin Science and Technology Support Program [15ZCZDGX00810]
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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.
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