Photo by averey from unsplash
This paper presents a nonlinear backstepping controller designed for an underactuated quadrotor-slung load system that drives the load to a predefined trajectory. The quadrotor and the load are modeled as… Click to show full abstract
This paper presents a nonlinear backstepping controller designed for an underactuated quadrotor-slung load system that drives the load to a predefined trajectory. The quadrotor and the load are modeled as a rigid body and a point mass, respectively. The controller is designed through Lyapunov and backstepping techniques, and the control laws for thrust and angular velocity are presented, which guarantee the closed-loop system to be asymptotically stable. Experimental results are provided to assess the validity and performance of the proposed controller.
Journal Title: IEEE/ASME Transactions on Mechatronics
Year Published: 2019
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!