Robust stabilization technique for a quadrotor slung-load system using sliding mode control

Abstract

Abstract This paper addresses the problem of the robust stabilization control for a quadrotor slung-load system using sliding mode control. The hybrid model of the slung-load system is presented as two separate systems, one fully actuated, and another under actuated. To achieve the robust stabilization control with the unexpected external disturbance, a sliding mode controller is proposed to enforce the slung-load system tracking of the desired trajectory with a slight swing of the suspended load. The Lyapunov function is defined as the system energy function that is always dissipated over time until nullity, when the system reaches the point of equilibrium. The stability of the controller is analyzed by the Lyapunov function and the stability criteria are given. Finally, the simulations are performed to evaluate the effectiveness of the proposed control scheme.