Nonlinear cascade control for a quadrotor transporting a slung load

被引：1
|
作者：
Lv, Zong-yang [1 ,2 ]
Wu, Yuhu [1 ,2 ]
Xia, Weiguo [1 ,2 ]
Wang, Wei [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
来源：
IFAC PAPERSONLINE | 2020年 / 53卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Nonlinear Control; quadrotor; slung load; QSL; exponential stability; UAV;
D O I：
10.1016/j.ifacol.2020.12.1907
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper focuses on the motion control problem for a quadrotor with a slung load (QSL). A dynamic model of a QSL is proposed by Lagrangian approach. We considered the air resistance of the load in the model building. Based on such a dynamical model, we propose a novel nonlinear three-loop cascade controller to realize velocity control for the load of a QSL, and the exponential stability of the whole system is proved. Numerical simulations implemented in a Matlab/SimMechanics environment demonstrate the effectiveness of the designed controller and the proposed model. Copyright (C) 2020 The Authors.
引用
收藏
页码：14781 / 14786
页数：6
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