A segmented energy‐based nonlinear tracking control method for quadrotor transport system

Abstract

The safety of the quadrotor transport system (QTS) is always threatened by the suspension load swing under the fuselage during flight. At the same time, the QTS is affected by uncertainties such as changes in desired position and cable length. Trajectory planning is often neglected during the development of the controller. Moreover, there are some shortcomings in the most control methods such as the maximum speed, acceleration, payload swing, and transportation efficiency of the system that cannot be theoretically guaranteed. Therefore, a nonlinear tracking control method is proposed using the segmented energy, which can make the quadrotor move to the target position quickly and smoothly, meanwhile, suppress the heavy swing of the payload. Furthermore, it is proved that the method proposed in this paper can achieve the asymptotic stability of the system equilibrium point and converge to the expected value by Lyapunov theorem and LaSalle's invariance principle. Simulation results show that the control method achieves good control performance and strong robustness against system parameter uncertainty.

Observer‐based robust optimal control for helicopter with uncertainties and disturbances

“…Due to the vertical take-off and landing (VTOL) capabilities in limited spaces, helicopters have been rapidly used in military and civil fields [1][2][3]. It is a challenging problem to design an effective control scheme for a helicopter in the presence of system uncertainties and external disturbances.…”

Uncertainty and disturbance estimator‐based geometry tracking control for quadrotors without linear velocity measurements

“…differentiator, geometric control, quadrotor, uncertainty and disturbance estimators viding substantial assistance in search and rescue, criminal apprehension, enemy reconnaissance, target strikes, and other mission scenarios [1][2][3]. However, the accuracy and performance of trajectory tracking control are subject to many challenges because the quadrotor system is underactuated, strongly coupled, nonlinear, and susceptible to parameter uncertainty and external disturbances.…”

“…In recent years, with the improvement of intelligent manufacturing level, the development of microprocessor technology, and the progress of sensing technology, the intelligence of quadrotors has been increasing and also with the advantages of low cost, small size, vertical take‐off, and landing, high mobility, and so forth. As a result, quadrotors are more widely used in military and civilian applications, especially for trajectory tracking applications providing substantial assistance in search and rescue, criminal apprehension, enemy reconnaissance, target strikes, and other mission scenarios [1–3]. However, the accuracy and performance of trajectory tracking control are subject to many challenges because the quadrotor system is underactuated, strongly coupled, nonlinear, and susceptible to parameter uncertainty and external disturbances.…”

Online Trajectory Planning Method for Double-Pendulum Quadrotor Transportation Systems

“…However, they are open-loop control methods and highly sensitive to external interferences. The most representative method based on the regulation control strategy is nonlinear control, which includes the energy-based method [20], back-step method [21], hierarchical control [22], sliding mode control [23,24], and adaptive control [25]. These nonlinear control methods can make a system's state asymptotically or exponentially track the reference instruction and also achieve accurate positioning.…”