Flexible performance constraint-based control of a quadrotor UAV-suspended payload system under input saturation

Abstract

In this article, a flexible performance constraint-based tracking control scheme is proposed for the anti-swing control of a quadrotor UAV-suspended payload system under external disturbance and input saturation. By applying system coupling relations and positive system theory, a self-regulating auxiliary system is constructed to generate correction signals to achieve the ability to regulate a prescribed performance function. The disturbance interval observer is employed to estimate the unknown disturbance. The interval width of the disturbance is used to design a continuous robust signal, enhancing the system's robustness. Additionally, it is with the intention of designing the controller for the under-actuated system to achieve effective tracking that the backstepping control scheme is used. It can always track the reference signal and satisfy flexible performance constraints based on theoretical analysis. Finally, the effectiveness of the proposed scheme is verified by experimental studies.