Abstract
This study investigates the trajectory planning problem for double-pendulum quadrotor transportation systems. The goal is to restrain the hook swing and payload swing while achieving precise positioning. An online trajectory planning method with two capabilities—precise positioning and swing suppression—is proposed. The stability and convergence of the system are proved using the Lyapunov principle and the LaSalle’s invariance theory. Simulation results show that the proposed method has excellent control performance.
Funder
National Natural Science Foundation of China
Tianjin Research Innovation Project for Postgraduate Students
Subject
Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering
Cited by
7 articles.
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