Nonlinear robust control of a quadrotor UAV for load transportation with swing improvement

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dc.creatorGuilherme Vianna Raffo
dc.creatorMarcelino M. de Almeida
dc.date.accessioned2025-03-18T15:38:30Z
dc.date.accessioned2025-09-09T00:42:56Z
dc.date.available2025-03-18T15:38:30Z
dc.date.issued2016
dc.identifier.doi10.1109/ACC.2016.7525403
dc.identifier.issn0743-1619
dc.identifier.urihttps://hdl.handle.net/1843/80740
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofAmerican Control Conference (ACC)
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subjectCinemática
dc.subjectEngenharia elétrica
dc.subject.otherUnmanned Aerial Vehicles
dc.subject.otherNonlinear Control
dc.subject.otherLoad Transport
dc.subject.otherRobust Nonlinear Control
dc.subject.otherOptimal Control
dc.subject.otherParameter Uncertainty
dc.subject.otherExogenous Disturbance
dc.subject.otherPath Tracking
dc.subject.otherUnderactuated Systems
dc.subject.otherEquations Of Motion
dc.subject.otherControl Problem
dc.subject.otherSymmetric Matrix
dc.subject.otherInertial Frame
dc.subject.otherMultibody System
dc.subject.otherError Vector
dc.subject.otherUnmodeled Dynamics
dc.titleNonlinear robust control of a quadrotor UAV for load transportation with swing improvement
dc.typeArtigo de evento
local.citation.epage3162
local.citation.spage3156
local.description.resumoThis 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/7525403

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