This study presents an adaptive control system for controlling the motion of a quadrotor transporting a cable-suspended payload. The technique uses adaptive updating rules to estimate the unknown disturbance operating on the pay-load. This work employs the Lyapunov method and LaSalle’s invariance theorem to examine and demonstrate that the suggested algorithm ensures the control system’s asymptotic stability. The simulation at the end of the paper validates the performance of the constructed adaptive controller.
An Adaptive Tracking Control Approach for a Quadrotor Transporting a Cable-Suspended Payload
2024-06-07
1318665 byte
Conference paper
Electronic Resource
English
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