期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 68, 期 7, 页码 6020-6030出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2020.2998759
关键词
Transportation; Payloads; Couplings; Aerospace electronics; Dynamics; Stability analysis; Cranes; Aerial transportation systems; energy-based analysis method; Lyapunov techniques
资金
- National Natural Science Foundation of China [61903200, 61873132, 91848203]
- Natural Science Foundation of Tianjin [19JCQNJC03500]
- Fundamental Research Funds for the Central Universities [63191403]
This study proposes a novel nonlinear antiswing controller for aerial transportation systems with consideration of double-pendulum swing effects, aiming to improve control performance. Experimental results demonstrate that the proposed control scheme exhibits better transient response compared to traditional methods.
When transporting cargoes or goods by aerial vehicles, the hook's rotation around the suspension point, together with the payload's rotation around the hook, causes the double-pendulum swing effects. However, this phenomenon is always neglected to simplify the control problem. With a more accurate description of the aerial transportation system driven by quadrotors, the analysis and careful consideration of the double-pendulum swing characteristic will improve the control effect. Nevertheless, the control design is difficult due to the increased system degrees of freedom and the more complicated dynamic coupling. To deal with these practical issues, a novel regulation oriented nonlinear antiswing controller is designed for aerial transportation systems with consideration of double-pendulum swing effects. By fabricating a new energy function, the nonlinear controller is proposed with the coupling terms incorporated to enhance the transient performance. Subsequently, in this article, we provide rigorous stability analysis based on Lyapunov theory. Experimental results are presented to demonstrate that the proposed control scheme exhibits better control performance in terms of increased transient response. The proposed method not only gives the analysis for aerial transportation systems with double-pendulum swing effects, but also solves the control problem with such behavior in the three-dimensional space, thus bringing inspiration to the effective control of other similar suspension systems.
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