Finite-time control design for a quadrotor transporting a slung load. (May 2022)

• Record Type: Journal Article
• Authors: Lv, Zongyang; Zhao, Qing; Li, Shengming; Wu, Yuhu
• Is Part Of: Control engineering practice. Volume 122(2022)
• Publication Date: 2022-05
• Subjects: Finite-time control -- Cascade system -- Quadrotor -- Slung load; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2022.105082
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: In this paper, we propose a nonlinear finite-time control strategy to solve the motion control problem for a quadrotor with a slung load (QSL). This work aims to realize high-performance motion control for the QSL, even in perturbations. To improve the dynamic performance and the robustness of the QSL system, a novel nonlinear controller is designed with cascade structure. The finite-time stability of the resulting closed-loop system is theoretically analyzed in this work. Furthermore, the advantages of the proposed control strategy are demonstrated by comparison results with different strategies through simulations in MATLAB/SimMechanics. Finally, the effectiveness of the proposed controller is verified in actual experiments on a specially designed experimental QSL.