Open AccessGeometric control for trajectory‐tracking of a quadrotor UAV with suspended load
Author(s) -
Wang Junan,
Yuan Xiaozhuoer,
Zhu Bing
Publication year - 2022
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12301
Subject(s) - control theory (sociology) , trajectory , tracking (education) , inner loop , swing , tracking error , loop (graph theory) , euler angles , observer (physics) , controller (irrigation) , stability theory , mathematics , computer science , engineering , control (management) , physics , nonlinear system , geometry , artificial intelligence , mechanical engineering , psychology , pedagogy , combinatorics , astronomy , quantum mechanics , agronomy , biology
A geometric control is proposed for the trajectory‐tracking of a quadrotor unmanned aerial vehicle with suspended load. The plant to be controlled is modelled by using Euler–Lagrangian equations, and it is linearised around zero swing angles of the load. The swing angles of the load are supposed to be unmeasurable, and they are estimated by the state observer. The controller is design in the inner–outer loop framework, where the outer loop trajectory‐tracking is basically implemented by internal model principle, and the inner loop attitude control is designed onS O ( 3 ) $SO(3)$ to avoid singularities. It is proved that, with the proposed geometric control, the tracking error of the inner loop converges in finite time, and the outer loop trajectory tracking error is asymptotically stable. Theoretical results are substantiated by a numerical example, where the closed‐loop system is capable of tracking a circular curve.