Sliding mode-based control of a UAV quadrotor for suppressing the cable-suspended payload vibration

DOI10.1155/2020/5058039MaRDI QIDQ2199922zbMATH OpenOpenAlexFDO

Authors Tom Kusznir, Jaroslaw Smoczek

Publication date 14 September 2020

Published in Journal of Control Science and Engineering (Search for Journal in Brave)

Copyright license File:Creative commons license with attribution.png Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2020/5058039

zbMATH Keywords

feedback linearizing controllersliding mode controlUAV quadrotor

Mathematics Subject Classification ID

Variable structure systems (93B12) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: This paper addresses the problem of damping vibrations of a cable-suspended payload during positioning of the quadrotor. A nonlinear model is derived for the coupled quadrotor-pendulum system in the \(X\)-\(Z\) plane using Euler-Lagrange formulation. Sliding mode control (SMC) is used for horizontal positioning and payload vibration damping, while a feedback linearizing controller is used for both altitude and attitude control. The SMC surface parameters are determined by placing the eigenvalues of the linearized system at a desired position. The simulation results show the effectiveness of the proposed control method in minimizing payload vibration by comparing it with a partial feedback linearizing controller and a ZVDD input shaper.

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Cites work

• Suspended load path tracking control using a tilt-rotor UAV based on zonotopic state estimation

Cited in

(14)

• Suspended load path tracking control using a tilt-rotor UAV based on zonotopic state estimation
• Nonlinear control strategies for a UAV carrying a load with swing attenuation
• Modelling and control of a spatial dynamic cable
• Nonlinear adaptive control for an unmanned aerial payload transportation system: theory and experimental validation
• Asymptotic stability for a transformed nonlinear UAV model with a suspended load via energy shaping
• A second-order sliding mode controller of quad-rotor UAV based on PID sliding mode surface with unbalanced load
• Adaptive sliding mode control of wire-driven parallel suspension system in wind tunnel tests
• Unilateral boundary control for a suspension cable system of a helicopter with horizontal motion
• Fixed-time neuro-sliding mode controller design for quadrotor UAV transporting a suspended payload
• Design of a neuro-sliding mode controller for interconnected quadrotor UAVs carrying a suspended payload
• High‐performance quadrotor slung load transportation with damped oscillations
• A segmented energy-based nonlinear tracking control method for quadrotor transport system
• Flatness-based sliding mode control for stabilizing a spherical pendulum on a quadrotor
• Robust convex LPV control of a helicopter-UAV transporting a suspended payload

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