Exponential Regulation Control of a Quadrotor Unmanned Aerial Vehicle With a Suspended Payload
This brief focuses on the control design for the aerial cargo transportation system that consists of a quadrotor unmanned aerial vehicle (UAV) and a cable-suspended payload. The underactuated properties associated with the system dynamics bring great challenges for the control development. Partial f...
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| Veröffentlicht in: | IEEE transactions on control systems technology 2020-11, Vol.28 (6), p.2762-2769 |
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| creator | Yang, Sen Xian, Bin |
| description | This brief focuses on the control design for the aerial cargo transportation system that consists of a quadrotor unmanned aerial vehicle (UAV) and a cable-suspended payload. The underactuated properties associated with the system dynamics bring great challenges for the control development. Partial feedback linearization methodology is employed to formulate a nonlinear controller that yields an exponential regulation result of the quadrotor UAV position, while the swing motion of the payload is suppressed exponentially fast. A Lyapunov-based stability analysis is included to prove the convergence of the position error and the local exponential stability of the closed-loop system. Real-time experiments are performed on a self-built UAV testbed to validate the performance of the proposed control strategy. |
| doi_str_mv | 10.1109/TCST.2019.2952826 |
| format | Article |
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The underactuated properties associated with the system dynamics bring great challenges for the control development. Partial feedback linearization methodology is employed to formulate a nonlinear controller that yields an exponential regulation result of the quadrotor UAV position, while the swing motion of the payload is suppressed exponentially fast. A Lyapunov-based stability analysis is included to prove the convergence of the position error and the local exponential stability of the closed-loop system. Real-time experiments are performed on a self-built UAV testbed to validate the performance of the proposed control strategy.</description><identifier>ISSN: 1063-6536</identifier><identifier>EISSN: 1558-0865</identifier><identifier>DOI: 10.1109/TCST.2019.2952826</identifier><identifier>CODEN: IETTE2</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Aerial load transportation ; antiswing control ; Attitude control ; Control design ; Convergence ; exponential control ; Feedback control ; Feedback linearization ; Motion stability ; Nonlinear control ; Payloads ; Position errors ; quadrotor ; Stability analysis ; suspended load ; System dynamics ; Transportation systems ; Unmanned aerial vehicles ; Unmanned helicopters</subject><ispartof>IEEE transactions on control systems technology, 2020-11, Vol.28 (6), p.2762-2769</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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Real-time experiments are performed on a self-built UAV testbed to validate the performance of the proposed control strategy.</description><subject>Aerial load transportation</subject><subject>antiswing control</subject><subject>Attitude control</subject><subject>Control design</subject><subject>Convergence</subject><subject>exponential control</subject><subject>Feedback control</subject><subject>Feedback linearization</subject><subject>Motion stability</subject><subject>Nonlinear control</subject><subject>Payloads</subject><subject>Position errors</subject><subject>quadrotor</subject><subject>Stability analysis</subject><subject>suspended load</subject><subject>System dynamics</subject><subject>Transportation systems</subject><subject>Unmanned aerial vehicles</subject><subject>Unmanned helicopters</subject><issn>1063-6536</issn><issn>1558-0865</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kF1LwzAUhoMoOKc_QLwJeN2Zk6ZtcjnK_ICBH9v0zpDlw3V0yUxbcP_elolX58B53nMOD0LXQCYARNwty8VyQgmICRUZ5TQ_QSPIMp4QnmenfU_yNMmzND9HF02zJQRYRosR-pz97IO3vq1Ujd_sV1ertgoel8G3MdQ4OKzwa6dMDG2IeOV3yntr8NTGIfFuN5WuLf6o2k0PLrpmb73p5y_qUAdlLtGZU3Vjr_7qGK3uZ8vyMZk_PzyV03miqUjbhFGagQGdgiaFBrDaUpeaNaeGFEylzjir1s4QzokgQgEVsC6cYJTnQmuVjtHtce8-hu_ONq3chi76_qSkjAmRQyFYT8GR0jE0TbRO7mO1U_EggchBoxw0ykGj_NPYZ26Omcpa-89zAYT1r_8COG5u1w</recordid><startdate>202011</startdate><enddate>202011</enddate><creator>Yang, Sen</creator><creator>Xian, Bin</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Aerial load transportation antiswing control Attitude control Control design Convergence exponential control Feedback control Feedback linearization Motion stability Nonlinear control Payloads Position errors quadrotor Stability analysis suspended load System dynamics Transportation systems Unmanned aerial vehicles Unmanned helicopters |
| title | Exponential Regulation Control of a Quadrotor Unmanned Aerial Vehicle With a Suspended Payload |
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