Abstract
This paper focuses on the disturbance attenuation control of the quadrotor suspended payload system with unknown payload mass. Since the quadrotor transportation system is an eight-degree-of-freedom system with only four actuated degrees, it is difficult to achieve rapid stabilization of the quadrotor under varying payload and external disturbances. In this paper, a nonlinear controller based on rotation matrix is designed to rapid stabilization of attitude. By analyzing the effect of load mass on the trajectory tracking control, a parameter adaptive controller is proposed for position control. A mass estimation algorithm is established to estimate the payload mass in the air, which improves the robustness of the system. This approach can maximize load-bearing capacity within the thrust range of the quadrotor. The Lyapunov-based analysis proves the exponential convergence of the attitude error and the stability of the whole system. The contrast simulations demonstrate that the controller is superior to the sliding-mode controller incorporating input shaping on mass estimation, trajectory tracking, and disturbance resistance.
Highlights
In recent years, Unmanned Aerial Vehicles (UAVs) have been widely studied and utilized in both military [1] and civilian [2] applications due to their simple structure and great maneuverability
The quadrotor transportation system is modeled based on the Lagrange equation, and the influence of the payload mass on the trajectory tracking control performance is explored through the analysis of the model
Based on linear feedback and estimated payload mass, the parameter adaptive control system is designed for position control and swing suppression
Summary
In recent years, Unmanned Aerial Vehicles (UAVs) have been widely studied and utilized in both military [1] and civilian [2] applications due to their simple structure and great maneuverability. This paper studies anti disturbance control of the quadrotor suspended payload system. A linear Proportional-Integral-Derivative controller is designed to probe the effect of a helicopter under the disturbance of increased payload mass in [36]. The quadrotor transportation system is modeled based on the Lagrange equation, and the influence of the payload mass on the trajectory tracking control performance is explored through the analysis of the model. The simulation results show that the proposed trajectory tracking controller is effective in improving robustness to external disturbance and unknown payload mass. CONTROL DESIGN a parameter adaptive controller is presented to enhance the performance of the tracking control in the face of large unknown payload mass and environmental disturbance.
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