This paper proposes an algorithm for deriving a quasi-static feedback for a general nonlinear differentially flat system. We apply this algorithm to design a quasi-static controller to track the payload position and yaw of a Unmanned Aerial Vehicle (UAV) multirotor Slung Load System (SLS). The design achieves full state feedback linearization of SLS with the important property that the control law is a static function of SLS state, i.e., no additional controller states are required as in full linearization achieved by the dynamic extension algorithm (DEA). The proposed controller ensures linear time-invariant exponentially stable error dynamics on a well-defined and practical region of state space. The design is validated in simulation.


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    Title :

    Flatness-Based Motion Control of a UAV Slung Load System Using Quasi-Static Feedback Linearization


    Contributors:


    Publication date :

    2022-06-21


    Size :

    1309310 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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