S Trajectory Based on Sliding Mode Control for Unmanned Aerial Vehicle Slung-load System

Abstract

For unmanned aerial vehicles (UAVs) slung-load systems, the payload of UAVs may suffer swing caused by inertia and external disturbances during the delivery process, posing a threat to system safety. Simultaneously tracking the trajectory and suppressing the payload swing is a challenging task. In this paper, a control design method is presented for trajectory tracking and swing suppression for a UAV delivery system. A feedforward design with the S-shaped trajectory is employed to suppress the payload swing, and a feedback hierarchical sliding mode control is utilized for trajectory tracking. Furthermore, stability analysis of the control system is conducted using the Lyapunov function, and simulation experiments are performed in MATLAB to validate the performance of the controller.