2021/07/13 by Zong-Yang Lv, Zongyang Lv, Shengming Li +3 · 1 citation
Engineering · #Adaptive Control of Nonlinear Systems #Underwater Vehicles and Communication Systems #Control and Stability of Dynamical Systems
paper · doi:10.1109/tvt.2021.3096234
This paper investigates the control problem for a quadrotor with a cable-suspended payload (QCSP). A new adaptive control strategy is designed to control the velocity of a volumetric payload with unknown mass in the presence of rotor downwash. The asymptotic stability of the resulting closed-loop system is analysed via the Lyapunov method. Furthermore, a novel structure is designed to suspend the payload on the quadrotor by a cable, and a gyroscope is installed on this structure to measure the payload's swing angle. The designed controller's performance is demonstrated by simulations implemented in a Simulink/SimMechanics environment. The effectiveness of the proposed control scheme is validated in real experiments.