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Nonlinear Backstepping Control of a Quadrotor-Slung Load System
Gan Yu1; David Cabecinhas1; Rita Cunha2; Carlos Silvestre1
2019-07-22
Source PublicationIEEE/ASME Transactions on Mechatronics
ISSN1083-4435
Volume24Issue:5Pages:2304-2315
Abstract

This paper presents a nonlinear backstepping controller designed for an underactuated quadrotor-slung load system that drives the load to a predefined trajectory. The quadrotor and the load are modeled as a rigid body and a point mass, respectively. The controller is designed through Lyapunov and backstepping techniques, and the control laws for thrust and angular velocity are presented, which guarantee the closed-loop system to be asymptotically stable. Experimental results are provided to assess the validity and performance of the proposed controller.

KeywordAir Transportation Lyapunov Methods Motion Control Unmanned Aerial Vehicles
DOI10.1109/TMECH.2019.2930211
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000498881800056
Scopus ID2-s2.0-85072995058
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorDavid Cabecinhas
Affiliation1.University of Macau, Macau, China
2.Universidade de Lisboa, Lisbon, Portugal
First Author AffilicationUniversity of Macau
Corresponding Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Gan Yu,David Cabecinhas,Rita Cunha,et al. Nonlinear Backstepping Control of a Quadrotor-Slung Load System[J]. IEEE/ASME Transactions on Mechatronics,2019,24(5):2304-2315.
APA Gan Yu,David Cabecinhas,Rita Cunha,&Carlos Silvestre.(2019).Nonlinear Backstepping Control of a Quadrotor-Slung Load System.IEEE/ASME Transactions on Mechatronics,24(5),2304-2315.
MLA Gan Yu,et al."Nonlinear Backstepping Control of a Quadrotor-Slung Load System".IEEE/ASME Transactions on Mechatronics 24.5(2019):2304-2315.
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