期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 67, 期 8, 页码 6669-6678出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2019.2938493
关键词
Antiswing; quadrotor UAV; slung load; trajectory planning; underactuated
资金
- National Natural Science Foundation of China [91748121, 90916004]
- National Key R&D Program of China [2018YFB1403900]
In this article, a novel online antiswing trajectory planning approach is proposed for a quadrotor slung-load system, which is an underacuated, strong coupling, and nonlinear system so that it is difficult to achieve the quadrotor's precise positioning and the payload's swing suppression simultaneously. The proposed trajectory planning approach is efficient and convenient without iterative optimizations. Specially, the proposed trajectory planning strategy is composed of two parts: a target positioning part and an antiswing part. The convergence of the quadrotor's positioning and payload's swing suppression is proved by Lyapunov-based analysis. Experimental results show that the proposed trajectory has achieved satisfied control performance.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据