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 MoreMetadata
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.
Published in: 2017 36th Chinese Control Conference (CCC)
Date of Conference: 26-28 July 2017
Date Added to IEEE Xplore: 11 September 2017
ISBN Information:
Electronic ISSN: 1934-1768
School of Electrical and Information Engineering, Tianjin University, Tianjin, P. R. China
School of Electrical and Information Engineering, Tianjin University, Tianjin, P. R. China