Most of the existing quadrotor control strategies assume that the center of gravity (COG) coincides with the geometric center and remains unchanged. However, for a quadrotor UAV with payload, especially the slung payload, the spherical oscillation of the load during the flight will inevitably lead to the varying COG for a quadrotor UAV and affect the stability of attitude controllers which designed based on the assumption without COG variation. Aiming at the time-varying COG and unknown external disturbance, an adaptive fault-tolerant control method for quadrotor is proposed in this paper. A new quadrotor dynamic model is established with slung payload and the time-varying COG. Then we design an adaptive fault-tolerant controller to ensure the uniformly ultimate bounds (UUB) stability of all signals in the closed-loop system. The simulation experiments are carried out to prove the effectiveness, adaptability and robustness of the proposed design method.


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    Title :

    Adaptive fault-tolerant flight control for a quadrotor UAV with slung payload and varying COG


    Contributors:
    Tan, Lian (author) / Shen, Zhixi (author) / Yu, Shuangshuang (author)


    Publication date :

    2019-05-01


    Size :

    286814 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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