A Dual-Controller of Quadrotor UAV Elastic Hanging Model Based on Event-Triggered Mechanism and Its Control Design

Abstract

In this paper, the dynamic model of the quadrotor with an elastic hangded payload is analysised, and a new control strategy based on the event triggering mechanism, sliding mode control and energy analysis method is designed for the dynamic model. The energy based control law is employed for the accurate positioning task near the equilibrium point, and sliding mode control law is used to avoid the swing of the hanging payload during the transporting process. The former is designed based on the robust sliding mode control, and the latter is designed based on the energy analysis method, and the stability analysis of the designed system and the control law is carried out using the Lyapunov method and the Russell’s invariant theorem. A group of simulation results is presented to illustrate the effectiveness of the algorithms.

Keywords

• Event triggering mechanism
• sliding mode control
• energy analysis
• quadrotor UAV
• elastic hanging