Affiliation:
1. College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China
2. Department of Mechanical Engineering The University of Hong Kong Hong Kong Hong Kong
Abstract
AbstractThis paper introduces an adaptive control scheme for quadrotor suspended load systems, to track desired trajectory with variable payload and wind disturbances. The dynamic model of the quadrotor suspended load system is developed, taking into account the impact of the wind field described by the Dryden model. To attenuate the effects of payload variation and wind disturbances on the system, an adaptive control method based on disturbance observers is devised. Additionally, the uniform boundedness of all error signals is demonstrated. The effectiveness of the designed control method is verified through simulations, which serves to strengthen its applicability in practical applications.
Funder
National Natural Science Foundation of China
Publisher
Institution of Engineering and Technology (IET)