This paper addresses the trajectory tracking control problem for a quadrotor suspended load system without load's linear velocity measurement and cable length information. Firstly, the cable length is estimated by designing an immersion and invariance ($\mathbf{I \& I}$)-based adaptive law. Secondly, a virtual thrust force vector is designed for the load position subsystem with the denoted auxiliary variables in the lack of load's linear velocity measurement. Then, through the cable direction subsystem and quadrotor attitude subsystem, the angular velocity input is presented to drive the real thrust input to virtual thrust input via the backstepping method. Thereafter, the uniformly boundedness of the whole closed-loop system is obtained by means of building suitable Lyapunov functions. Ultimately, numerical simulations attest to the performance of the proposed trajectory tracking control law.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Trajectory Tracking Control for Quadrotor Slung Load System With Unknown Load's Linear Velocity and Cable Length


    Contributors:

    Published in:

    Publication date :

    2024-01-01


    Size :

    1548439 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Trajectory Tracking Control for a Quadrotor with a Slung Load

    Mosco-Luciano, A. / Castro-Linares, R. / Rodriguez-Cortes, H. | IEEE | 2020


    Swing Suppression and Path Tracking Control of Quadrotor-Slung-Load System with Unknown Mass Load

    Xin, Cheng / Wenhao, Wang / Jing, Zhang et al. | Springer Verlag | 2025



    Modeling and Control of Quadrotor Formations Carrying a Slung Load

    Ariyibi, Segun / Tekinalp, Ozan | AIAA | 2018


    Anti-Swing Control Structure for the Biplane Quadrotor with Slung Load

    Dalwadi, Nihal / Deb, Dipankar / Ozana, Stepan | Springer Verlag | 2023