When a quadrotor UAV (unmanned aerial vehicle) transports a large cargo, the payload tends to rotate and swing significantly. However, to simplify control, the payload is often modeled as a point mass. To more accurately describe the quadrotor suspended-payload system, analyzing and considering the payload's rotation and swing can improve control performance. This study employs a rigid payload and establishes a dynamic model for the system. A controller based on energy principles is proposed, which can asymptotically regulate both the position of the quadrotor UAV and the swing angles of the payload. A Lyapunov-based stability analysis is included to prove the stability of the system. Simulation results demonstrate that the proposed controller performs well and validate the feasibility and effectiveness of the dynamic model.
Nonlinear Control Design for the Quadrotor UAV with a Suspended Rigid Payload
2025-05-16
748499 byte
Conference paper
Electronic Resource
English
Receding Nash control for quadrotor UAV carrying a cable-suspended payload
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