Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

作     者：DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang 

作者机构：School of Computer ScienceSouth-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China School of Computer Science and EngineeringWuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked ControlGuangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China 

出 版 物：《中国科学:技术科学英文版》 (Science China: Technological Sciences)

年 卷 期：2023年第66卷第10期

页      面：2917-2929页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 

基　　金：the National Natural Science Foundation of China(Grant Nos.U1913207,U20A20200,and 92148204) the Natural Science Foundation of Hubei Province of China(Grant No.2021CFB258) the Technology Innovation Project of Hubei Province of China(Grant No.2019AEA171) the Fundamental Research Funds for the Central Universities,South-Central Minzu University(Grant No.CZY19015) 

主　　题：quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties 

摘      要：Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor s *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem s *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.