Nonlinear controller design for an unmanned aerial vehicle with a slung-load
XIAN Bin
ZHANG Xu
YANG Sen
Abstract：This article presents a novel nonlinear control strategy for a quadrotor unmanned aerial vehicle (UAV) with a slung-load. The dynamic model for a quadrotor UAV system with slung-load is firstly obtained. The load is considered as a mass point, with a rigid link connected to the centre of gravity of the quadrotor UAV. Then, a nonlinear control strategy for the considered system is designed via the energy-based methodology. The proposed control design is able to move the quadrotor UAV to its desired position while suppress the swing of the load. The Lyapunov-based stability analysis and the LaSalle Invariance Theorem are employed to prove the stability of the closed-loop system. The control performance of the proposed control strategy is compared with that of a linear-quadratic regulator (LQR) controller via numerical simulation of stabilization control and regulation control.
Keywords：quadrotorunmanned aerial vehicle (UAV)anti-swing controlslung-loadenergy method
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 273-279 )