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.
Flatness-Based Motion Control of a UAV Slung Load System Using Quasi-Static Feedback Linearization
2022-06-21
1309310 byte
Conference paper
Electronic Resource
English
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