Trajectory Tracking Control for Quadrotor Slung Load System With Unknown Load's Linear Velocity and Cable Length

Abstract

This paper addresses the trajectory tracking control problem for a quadrotor suspended load system without load's linear velocity measurement and cable length information. Firstly, the cable length is estimated by designing an immersion and invariance ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mathbf{I\&amp;I}$</tex-math></inline-formula> )-based adaptive law. Secondly, a virtual thrust force vector is designed for the load position subsystem with the denoted auxiliary variables in the lack of load's linear velocity measurement. Then, through the cable direction subsystem and quadrotor attitude subsystem, the angular velocity input is presented to drive the real thrust input to virtual thrust input via the backstepping method. Thereafter, the uniformly boundedness of the whole closed-loop system is obtained by means of building suitable Lyapunov functions. Ultimately, numerical simulations attest to the performance of the proposed trajectory tracking control law.