This paper focuses on the research of the dependency on load mass in the control of the existing Quadrotor-Slung-Load system (QSLS). Firstly, the kinematics and dynamics equations of the quadrotor and the load are established using the Newton-Euler method respectively, and a system model with eight degrees of freedom is obtained by eliminating intermediate variables. Utilizing the adaptive integral backstepping approach, we have devised both the swing suppression and path tracking controllers for the QSLS. Additionally, an adaptive law for estimating the load mass has been formulated, grounded on the principles of Lyapunov stability theory. Through simulations, it is verified that the designed controller can achieve path-tracking tasks under different load conditions, and the load mass estimation is accurate and can effectively suppress load swings.
Swing Suppression and Path Tracking Control of Quadrotor-Slung-Load System with Unknown Mass Load
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
05.03.2025
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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