Adaptive Control for a Quadrotor Transporting a Cable-Suspended Payload with Unknown Mass in the Presence of Rotor Downwash

doi:10.1109/TVT.2021.3096234

Details of Research Outputs

Status	已发表Published
Title	Adaptive Control for a Quadrotor Transporting a Cable-Suspended Payload with Unknown Mass in the Presence of Rotor Downwash
Creator	Lv, Zongyang 1,2; Li, Shengming 3; Wu, Yuhu 1,2; Wang, Qingguo4,5
Date Issued	2021
Source Publication	IEEE Transactions on Vehicular Technology
ISSN	0018-9545
Volume	70 Issue:9 Pages:8505-8518
Abstract	This paper investigates the control problem for a quadrotor with a cable-suspended payload (QCSP). A new adaptive control strategy is designed to control the velocity of a volumetric payload with unknown mass in the presence of rotor downwash. The asymptotic stability of the resulting closed-loop system is analysed via the Lyapunov method. Furthermore, a novel structure is designed to suspend the payload on the quadrotor by a cable, and a gyroscope is installed on this structure to measure the payload's swing angle. The designed controller's performance is demonstrated by simulations implemented in a Simulink/SimMechanics environment. The effectiveness of the proposed control scheme is validated in real experiments. © 1967-2012 IEEE.
Keyword	Adaptive control asymptotical stability cable-suspended payload quadrotor UAV rotor downwash
DOI	10.1109/TVT.2021.3096234
URL	View source
Indexed By	SCIE
Language	英语English
WOS Research Area	Engineering ; Telecommunications ; Transportation
WOS Subject	Engineering, Electrical & Electronic ; Telecommunications ; Transportation Science & Technology
WOS ID	WOS:000700122200013
Scopus ID	2-s2.0-85110872284
Citation statistics	Cited Times:29[WOS] [WOS Record] [Related Records in WOS]
Document Type	Journal article
Identifier	http://repository.uic.edu.cn/handle/39GCC9TT/8167
Collection	Faculty of Science and Technology
Corresponding Author	Lv, Zongyang
Affiliation	1.Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education 2.School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China 3.School of Innovation and Entrepreneurship, Dalian University of Technology, Dalian 116024, China 4.Institute of Artificial Intelligence and Future Networks, Beijing Normal University, Zhuhai 519087, China 5.BNU-HKBU United International College, Zhuhai 519087, China
Recommended Citation GB/T 7714	Lv, Zongyang,Li, Shengming,Wu, Yuhuet al. Adaptive Control for a Quadrotor Transporting a Cable-Suspended Payload with Unknown Mass in the Presence of Rotor Downwash[J]. IEEE Transactions on Vehicular Technology, 2021, 70(9): 8505-8518.
APA	Lv, Zongyang, Li, Shengming, Wu, Yuhu, & Wang, Qingguo. (2021). Adaptive Control for a Quadrotor Transporting a Cable-Suspended Payload with Unknown Mass in the Presence of Rotor Downwash. IEEE Transactions on Vehicular Technology, 70(9), 8505-8518.
MLA	Lv, Zongyang,et al."Adaptive Control for a Quadrotor Transporting a Cable-Suspended Payload with Unknown Mass in the Presence of Rotor Downwash". IEEE Transactions on Vehicular Technology 70.9(2021): 8505-8518.

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