Name
Abstract | ||
|---|---|---|
This paper proposes hovering flight control for a quadrotor UAV with slung load. A dynamic model considering the states of both quadrotor and slung load is established based on Euler-Lagrange equations. This model is simplified to several linear subsystems via reasonable assumptions. These subsystems are proved completely controllable. A robust H-infinity controller is designed by utilizing the estimated states of the observer. Due to the lack of sensors to measure the swing angle of the slung load, a reduced order state observer is constructed to estimate these states. The validity of the proposed controller and observer is verified by simulation results. |
Year | Venue | Keywords |
|---|---|---|
2019 | 2019 12TH ASIAN CONTROL CONFERENCE (ASCC) | slung load, observer, quadrotor, robust H-infinity control |
DocType | ISSN | Citations |
Conference | 2072-5639 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xiaozhuoer Yuan | 1 | 0 | 0.34 |
| Xingyu Ren | 2 | 0 | 0.34 |
| Bing Zhu | 3 | 99 | 14.45 |
| Zewei Zheng | 4 | 1 | 1.05 |
| Zongyu Zuo | 5 | 560 | 30.83 |