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A trajectory tracking control law for a quadrotor with slung load
David Cabecinhas1,2; Cunha,Rita2,3; Silvestre,Carlos1
2019-05-24
Source PublicationAutomatica
ISSN0005-1098
Volume106Pages:384-389
Abstract

We present a trajectory tracking controller for the full dynamics of a quadrotor vehicle carrying a slung load attached by a string. The full dynamic system is modeled as two connected subsystems, the string–load subsystem, with dynamics identical to that of a standard quadrotor in free flight, and the quadrotor subsystem with attitude kinematics and dynamics. A trajectory tracking controller for the position of the point-mass load is designed based on existing Lyapunov-based trajectory tracking controllers for free flying quadrotors which are further backstepped through the quadrotor attitude dynamics. A parameterized Lyapunov function is provided for the full system dynamics with a negative semi-definite time derivative. The proposed controller is proven to drive the load position error to zero and the origin of the error system is exponentially stable. Simulation results attest the performance of the proposed controller for aggressive trajectories and its robustness and validity are further highlighted by experimental results with a model-scale vehicle and slung load.

KeywordBackstepping Lyapunov Methods Quadrotor Vehicle Slung Load Control
DOI10.1016/j.automatica.2019.04.030
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000473380000043
Scopus ID2-s2.0-85066086742
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Citation statistics
Cited Times [WOS]:13   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorDavid Cabecinhas
Affiliation1.Department of Electrical and Computer Engineering,Faculty of Science and Technology of the University of Macau,Macau,China
2.Institute for Systems and Robotics,Instituto Superior Técnico,Universidade de Lisboa,Portugal
3.Department of Electrical Engineering and Computer Engineering,Instituto Superior Técnico,Universidade de Lisboa,Portugal
First Author AffilicationFaculty of Science and Technology
Corresponding Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
David Cabecinhas,Cunha,Rita,Silvestre,Carlos. A trajectory tracking control law for a quadrotor with slung load[J]. Automatica,2019,106:384-389.
APA David Cabecinhas,Cunha,Rita,&Silvestre,Carlos.(2019).A trajectory tracking control law for a quadrotor with slung load.Automatica,106,384-389.
MLA David Cabecinhas,et al."A trajectory tracking control law for a quadrotor with slung load".Automatica 106(2019):384-389.
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