Author(s): XIAN Bin, ZHANG Xu, YANG Sen, Tianjin Key Laboratory of Process Measurement and Control, Institute of Robotics and Autonomous System, School of Electrical Engineering and Automation, Tianjin University
Pages: 273-279
Year: 2016 Issue:  3
Journal: Control Theory & Applications
Keyword:  quadrotor; unmanned aerial vehicle(UAV); anti-swing control; slung-load; energy method;
Abstract: This article presents a novel nonlinear control strategy for a quadrotor unmanned aerial vehicle(UAV) with a slung-load.The dynamic model for a quadrotor UAV system with slung-load is firstly obtained.The load is considered as a mass point,with a rigid link connected to the centre of gravity of the quadrotor UAV.Then,a nonlinear control strategy for the considered system is designed via the energy-based methodology.The proposed control design is able to move the quadrotor UAV to its desired position while suppress the swing of the load.The Lyapunov-based stability analysis and the LaSalle Invariance Theorem are employed to prove the stability of the closed-loop system.The control performance of the proposed control strategy is compared with that of a linear-quadratic regulator(LQR) controller via numerical simulation of stabilization control and regulation control.