Nonlinear Backstepping Control of a Quadrotor-Slung Load System

This paper presents a nonlinear backstepping controller designed for an underactuated quadrotor-slung load system that drives the load to a predefined trajectory. The quadrotor and the load are modeled as a rigid body and a point mass, respectively. The controller is designed through Lyapunov and ba...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 24; no. 5; pp. 2304 - 2315
Main Authors Yu, Gan, Cabecinhas, David, Cunha, Rita, Silvestre, Carlos
Format Journal Article
LanguageEnglish
Published New York IEEE 01.10.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Air transportation
Angular velocity
Attitude control
Backstepping
Control systems design
Control theory
Controllers
Dynamics
Feedback control
Force
Load modeling
Lyapunov methods
motion control
Nonlinear control
Rigid structures
Trajectory
unmanned aerial vehicles
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Summary:This paper presents a nonlinear backstepping controller designed for an underactuated quadrotor-slung load system that drives the load to a predefined trajectory. The quadrotor and the load are modeled as a rigid body and a point mass, respectively. The controller is designed through Lyapunov and backstepping techniques, and the control laws for thrust and angular velocity are presented, which guarantee the closed-loop system to be asymptotically stable. Experimental results are provided to assess the validity and performance of the proposed controller.
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ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2019.2930211