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Abstract This paper focuses on the motion control problem for a quadrotor with a slung load (QSL). A dynamic model of a QSL is proposed by Lagrangian approach. We considered… Click to show full abstract
Abstract This paper focuses on the motion control problem for a quadrotor with a slung load (QSL). A dynamic model of a QSL is proposed by Lagrangian approach. We considered the air resistance of the load in the model building. Based on such a dynamical model, we propose a novel nonlinear three-loop cascade controller to realize velocity control for the load of a QSL, and the exponential stability of the whole system is proved. Numerical simulations implemented in a Matlab/SimMechanics environment demonstrate the effectiveness of the designed controller and the proposed model.
Journal Title: IFAC-PapersOnLine
Year Published: 2020
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