Nonlinear robust control of a quadrotor UAV for load transportation with swing improvement
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Universidade Federal de Minas Gerais
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This paper proposes a nonlinear robust control strategy to solve the load transportation problem by using a quadrotor UAV along a predefined trajectory. For the present study, the aim is to perform path tracking of the aircraft with load's swing-free, even in the presence of parametric uncertainties and exogenous disturbances. The system is modeled via Euler-Lagrange formulation considering both the dynamics of the quadrotor UAV and the suspended load. A nonlinear ℋ∞ controller for underactuated mechanical systems is proposed taking into account both actuated DOF due to input-coupling and unactuated ones. Furthermore, an additional control law obtained through the Lyapunov redesign technique is summed to the nonlinear ℋ∞ controller in order to reduce the load's swing. Simulation results are carried out to corroborate the proposed control strategy.
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Aeronave não tripulada, Cinemática, Engenharia elétrica
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Unmanned Aerial Vehicles, Nonlinear Control, Load Transport, Robust Nonlinear Control, Optimal Control, Parameter Uncertainty, Exogenous Disturbance, Path Tracking, Underactuated Systems, Equations Of Motion, Control Problem, Symmetric Matrix, Inertial Frame, Multibody System, Error Vector, Unmodeled Dynamics
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https://ieeexplore.ieee.org/document/7525403