This paper presents the synthesis of a nonlinear controller to deal with the trajectory tracking problem for a quadrotor with a slung load constrained to flight on a plane. The control design procedure starts by designing a linearizing saturated controller for the vertical dynamics; then, the back-stepping method is employed to synthesize a controller for the resulting closed-loop dynamics. The controller performance is evaluated using numerical simulations, and some experimental results are also reported.


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    Title :

    Trajectory Tracking Control for a Quadrotor with a Slung Load


    Contributors:


    Publication date :

    2020-09-01


    Size :

    915680 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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