Nonlinear Adaptive Control Design for Quadrotor UAV Transportation System

Abstract

In response to the non-linear and underactuated characteristics of quadrotor UAV suspension transportation system, this paper proposes a novel control strategy aimed at achieving precise position control, attitude control, and anti-swing capabilities. Firstly, a dynamical model required for controller design is established through the Newton-Euler method. In the controller design process, the paper employs the energy method and barrier Lyapunov function to design a double-closed-loop nonlinear controller. This controller is capable of not only accurately controlling the position and attitude angles of the quadrotor UAV suspension transportation system but also effectively suppressing the swing of the payload. Building on this, considering the elastic deformation of the lifting cable, and by analyzing the forces in the Newton-Euler equations, this paper proposes an adaptive control design for the case where the length of the cable connecting the UAV and the payload is unknown. To validate the effectiveness of the proposed control scheme, comparative experiments were conducted in the MATLAB simulation environment, and the results indicate that the method proposed in this paper exhibits superior control performance compared to traditional controllers.

Keywords

• quadrotor UAV
• position control
• anti-swing control
• nonlinear adaptive control
• barrier lyapunov
• energy function