Trajectory Tracking Control Design for the System of a Quadrotor UAV With a Suspended Payload
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- 英文论文题名：Trajectory Tracking Control Design for the System of a Quadrotor UAV With a Suspended Payload
- 论文作者：Sen Yang ; Bin Xian
- 英文论文作者：Sen Yang ; Bin Xian ; School of Electrical and Information Engineering ; Tianjin University
- 年：2017
- 作者机构：School of Electrical and Information Engineering,Tianjin University;
- 英文论文关键词：Unmanned Aerial Vehicles ; Suspended Payload ; Trajectory Tracking
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：V249.1
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：348k
- 原文格式：D
- 会议级别：全国
摘要
In this paper, we present a new control strategy based on partial feedback linearization for the system of a quadrotor UAV(unmanned aerial vehicle) with a suspended payload. An input-output stable based trajectory tracking control law is first proposed. To the end of stabilizing the internal system, a coupling term is then added to the input-output control law. And then the semi-global stability of the close-loop system is demonstrated by employing Lyapunov stability analysis. The simulation results show a good performance of the trajectory tracking ability of the proposed control design.
In this paper, we present a new control strategy based on partial feedback linearization for the system of a quadrotor UAV(unmanned aerial vehicle) with a suspended payload. An input-output stable based trajectory tracking control law is first proposed. To the end of stabilizing the internal system, a coupling term is then added to the input-output control law. And then the semi-global stability of the close-loop system is demonstrated by employing Lyapunov stability analysis. The simulation results show a good performance of the trajectory tracking ability of the proposed control design.
In this paper, we present a new control strategy based on partial feedback linearization for the system of a quadrotor UAV(unmanned aerial vehicle) with a suspended payload. An input-output stable based trajectory tracking control law is first proposed. To the end of stabilizing the internal system, a coupling term is then added to the input-output control law. And then the semi-global stability of the close-loop system is demonstrated by employing Lyapunov stability analysis. The simulation results show a good performance of the trajectory tracking ability of the proposed control design.
引文
[1]G.Wu and K.Sreenath,Variation-Based Linearization of Nonlinear Systems Evolving on SO(3)and S2,IEEE Access,9(3):1592-1604,2015.
[2]M.M.Nicotra,E Garone,R.Naldi,and L.Marconi,Nested Saturation Control of an UAV Carrying a Suspended Load,in Proceedings of 2014 American Control Conference,2014:3585-3590.
[3]X.Liang,Y.Fang,and N.Sun,A Hierarchical Controller for Quadrotor Unmanned Aerial Vehicle Transportation Systems,in Proceedings of the 35th Chinese Control Conference2016:6148-6153.
[4]M.E.Guerrero,D.A.Mercado,R.Lozano,and C.D.Garc′?a,Passivity Based Control for a Quadrotor UAV Transporting a Cable-Suspended Payload with Minimum Swing,in Proceedings of IEEE 54th Annual Conference on Decision and Control,2015:6718-6723.
[5]S.Notter,A.Heckmann,A.Mcfadyen,and F.Gonzalez,Modelling,Simulation and Flight Test of a Model Predictive Controlled Multirotor with Heavy Slung Load,IFAC-Papers On Line,49(17):182-187,2016.
[6]K.Sreenath,N.Michael,and V.Kumar.Trajectory Generation and Control of a Quadrotor with a Cable-Suspended Load-A Differentially-Flat Hybrid System,in Proceedings of 2013 IEEE International Conference on Robotics and Automation,2013:4888-4895.
[7]F.A.Goodarzi,D.Lee,and T.Lee,Geometric Stabilization of a Quadrotor UAV with a Payload Connected by Flexible Cable,in Proceedings of 2014 American Control Conference,2014:4925-4930.
[8]S.Tang,and V.Kumar,Mixed Integer Quadratic Program Trajectory Generation for a Quadrotor with a CableSuspended Payload,in Proceedings of 2015 IEEE International Conference on Robotics and Automation,2015:2216-2222.
[9]S.Dai,T.Lee,and D.S.Bernstein,Adaptive Control of a Quadrotor UAV Transporting a Cable-Suspended Load with Unknown Mass,in Proceedings of 53rd IEEE Conference on Decision and Control,2014:6149-6154.
[10]P.Cruz,and R.F.Bernstein,Autonomous lift of a cablesuspended load by an unmanned aerial robot,in Proceedings of 2014 IEEE Conference on Control Applications,2014:1985-1992.
[11]M.W.Spong,Partial feedback linearization of underactuated mechanical systems,in Proceedings of International Conference on Intelligent Robots and Systems 1994:314-321.
[12]B.Vikramaditya,R.Rajamani,Nonlinear control of a trolley crane system,in Proceedings of American Control Conference,2000:1032-1036.
[13]B.Xian X.Zhang and S.Yang,Nonlinear controller design for an unmanned aerial vehicle with a slung-load,Control Theory&Applications,33(3):273-279,2016.
[14]H.K.Khalil,Nonlinear systems.New Jersey:Prentice hall,1996,chapter 13.
[2]M.M.Nicotra,E Garone,R.Naldi,and L.Marconi,Nested Saturation Control of an UAV Carrying a Suspended Load,in Proceedings of 2014 American Control Conference,2014:3585-3590.
[3]X.Liang,Y.Fang,and N.Sun,A Hierarchical Controller for Quadrotor Unmanned Aerial Vehicle Transportation Systems,in Proceedings of the 35th Chinese Control Conference2016:6148-6153.
[4]M.E.Guerrero,D.A.Mercado,R.Lozano,and C.D.Garc′?a,Passivity Based Control for a Quadrotor UAV Transporting a Cable-Suspended Payload with Minimum Swing,in Proceedings of IEEE 54th Annual Conference on Decision and Control,2015:6718-6723.
[5]S.Notter,A.Heckmann,A.Mcfadyen,and F.Gonzalez,Modelling,Simulation and Flight Test of a Model Predictive Controlled Multirotor with Heavy Slung Load,IFAC-Papers On Line,49(17):182-187,2016.
[6]K.Sreenath,N.Michael,and V.Kumar.Trajectory Generation and Control of a Quadrotor with a Cable-Suspended Load-A Differentially-Flat Hybrid System,in Proceedings of 2013 IEEE International Conference on Robotics and Automation,2013:4888-4895.
[7]F.A.Goodarzi,D.Lee,and T.Lee,Geometric Stabilization of a Quadrotor UAV with a Payload Connected by Flexible Cable,in Proceedings of 2014 American Control Conference,2014:4925-4930.
[8]S.Tang,and V.Kumar,Mixed Integer Quadratic Program Trajectory Generation for a Quadrotor with a CableSuspended Payload,in Proceedings of 2015 IEEE International Conference on Robotics and Automation,2015:2216-2222.
[9]S.Dai,T.Lee,and D.S.Bernstein,Adaptive Control of a Quadrotor UAV Transporting a Cable-Suspended Load with Unknown Mass,in Proceedings of 53rd IEEE Conference on Decision and Control,2014:6149-6154.
[10]P.Cruz,and R.F.Bernstein,Autonomous lift of a cablesuspended load by an unmanned aerial robot,in Proceedings of 2014 IEEE Conference on Control Applications,2014:1985-1992.
[11]M.W.Spong,Partial feedback linearization of underactuated mechanical systems,in Proceedings of International Conference on Intelligent Robots and Systems 1994:314-321.
[12]B.Vikramaditya,R.Rajamani,Nonlinear control of a trolley crane system,in Proceedings of American Control Conference,2000:1032-1036.
[13]B.Xian X.Zhang and S.Yang,Nonlinear controller design for an unmanned aerial vehicle with a slung-load,Control Theory&Applications,33(3):273-279,2016.
[14]H.K.Khalil,Nonlinear systems.New Jersey:Prentice hall,1996,chapter 13.