Energy-Based Control and LMI-Based Control for a Quadrotor Transporting a Payload

Abstract

This paper presents the control of a quadrotor with a cable-suspended payload. The proposed control structure is a hierarchical scheme consisting of an energy-based control (EBC) to stabilize the vehicle translational dynamics and to attenuate the payload oscillation, together with a nonlinear state feedback controller based on an linear matrix inequality (LMI) to control the quadrotor rotational dynamics. The payload swing control is based on an energy approach and the passivity properties of the system’s translational dynamics. The main advantage of the proposed EBC strategy is that it does not require excessive computations and complex partial differential equations (PDEs) for implementing the control algorithm. We present a new methodology for using an LMI to synthesize the controller gains for Lipschitz nonlinear systems with larger Lipschitz constants than other classical techniques based on LMIs. This theoretical approach is applied to the quadrotor rotational dynamics. Stability proofs based on the Lyapunov theory for the controller design are presented. The designed control scheme allows for the stabilization of the system in all its states for the three-dimensional case. Numerical simulations demonstrating the effectiveness of the controller are provided.

Application of a Drone Magnetometer System to Military Mine Detection in the Demilitarized Zone

“…However, during drone-based magnetic detection from a low altitude in an environment with lush vegetation or nearby obstacles, collisions may occur. Vision-based simultaneous localization and mapping (SLAM) and flight control strategies [ 34 , 35 ] may overcome this problem. This study confirmed the locations of magnetic anomalies, and did not consider a method for analyzing their depths.…”

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“…The nonlinear negative imaginary property of the quadrotor system will be established, and we shall employ the stability robustness results of [ 12 ] to design a velocity-free attitude controller by direct use of the Euler angles. For future work, the nonlinear negative imaginary approach can be employed or combined with other techniques as in [ 13 , 14 , 15 ] to provide the full flight control to quadrotor systems.…”

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