Affiliation:
1. Ocean University of China, College of Engineering
Abstract
<div class="section abstract"><div class="htmlview paragraph">The presence of a slung-load during the flight of a quadrotor generates swing
effects that can greatly influence the dynamics of the quadrotor. These effects
have the potential to threaten the stability of the system’s attitude. This
study presents a disturbance compensation strategy that is designed based on the
utilization of an adaptive harmonic extended state observer (AHESO) in order to
solve this problem and achieve precise attitude control. To derive the
aforementioned algorithm, a comprehensive mathematical model for the
quadrotor-slung-load system is built. The periodic features of disturbance are
derived by considering the movement of the slung-load. Subsequently, by taking
the periodic features of the disturbances into account, the AHESO for accurate
disturbance estimation is designed. In this observer, an online frequency
estimator for the harmonic disturbances is introduced. Lyapunov theory is
introduced to examine the stability of the AHESO. In addition,
backstepping-based approach is employed to design an attitude controller for
accurate attitude tracking of the quadrotor. Analysis are conducted regarding of
the entire stability of the quadrotor-slung-load system. In the end, the
effectiveness of the designed method is verified by comparative simulations.</div></div>