Adaptive Control for a Quadrotor Transporting a Cable-Suspended Payload With Unknown Mass in the Presence of Rotor Downwash
Zongyang Lv, Shengming Li, Yuhu Wu, Qing‐Guo Wang
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.