Trajectory tracking control design for the system of a quadrotor UAV with a suspended payload | IEEE Conference Publication | IEEE Xplore

Trajectory tracking control design for the system of a quadrotor UAV with a suspended payload


Abstract:

In this paper, we present a new control strategy based on partial feedback linearization for the system of a quadrotor UAV(unmanned aerial vehicle) with a suspended paylo...Show More

Abstract:

In this paper, we present a new control strategy based on partial feedback linearization for the system of a quadrotor UAV(unmanned aerial vehicle) with a suspended payload. An input-output stable based trajectory tracking control law is first proposed. To the end of stabilizing the internal system, a coupling term is then added to the input-output control law. And then the semi-global stability of the close-loop system is demonstrated by employing Lyapunov stability analysis. The simulation results show a good performance of the trajectory tracking ability of the proposed control design.
Date of Conference: 26-28 July 2017
Date Added to IEEE Xplore: 11 September 2017
ISBN Information:
Electronic ISSN: 1934-1768
Conference Location: Dalian, China

1 Introduction

Recently, considerable interests have been received to the system of a quadrotor UAV with a suspended payload, due to the convenience, inexpensive, and agility of the quadrotor UAVs. And the ability to hover and the safety of the quadrotor UAVs make it perfect for the payloads transport mission.

References

References is not available for this document.