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

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Abstract

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

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Author information

Authors and Affiliations

  1. School of Computer Science, South-Central Minzu University, Wuhan, 430074, China

    Feng Ding, Chong Sun & Yong Ai

  2. Key Laboratory of Ministry of Education for Image Processing and Intelligent Control, Hubei Key Laboratory of Brain-inspired Intelligent Systems, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, 430074, China

    Jian Huang

  3. School of Computer Science and Engineering, Wuhan Institute of Technology, Wuhan, 430205, China

    WenXia Xu

  4. Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control, Guangdong Engineering Technology Research Center of Control of Intelligent Systems, College of Automation Science and Engineering, South China University of Technology, Guangzhou, 510640, China

    ChenGuang Yang

Authors
  1. Feng Ding
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  2. Jian Huang
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  3. Chong Sun
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  4. Yong Ai
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Corresponding author

Correspondence to Jian Huang.

Additional information

This work was supported by 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), and the Fundamental Research Funds for the Central Universities, South-Central Minzu University (Grant No. CZY19015).

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Ding, F., Huang, J., Sun, C. et al. Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties. Sci. China Technol. Sci. 66, 2917–2929 (2023). https://doi.org/10.1007/s11431-022-2340-y

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  • DOI: https://doi.org/10.1007/s11431-022-2340-y

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