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1、2016AmericanControlConference(ACC)BostonMarriottCopleyPlaceJuly6-8,2016.Boston,MA,USANonlinearRobustControlofaQuadrotorUAVforLoadTransportationwithSwingImprovementGuilhermeV.Raffo1andMarcelinoM.deAlmeida2Abstract—Thispaperproposesanonlinearrobustcontrolsuspendedloadisdiffere
2、ntiallyflatandexploresthispropertystrategytosolvetheloadtransportationproblembyusingatodesigncontrollersforthesystem.quadrotorUAValongapredefinedtrajectory.ForthepresentNonetheless,thequadrotorUAVwithsuspendedloadisstudy,theaimistoperformpathtrackingoftheaircraftwithanunderact
3、uatedmechanicalsystem,whichisconstantlyload’sswing-free,eveninthepresenceofparametricuncer-taintiesandexogenousdisturbances.Thesystemismodeledviaaffectedbyexogenousdisturbances,apartfrommodelingEuler-Lagrangeformulationconsideringboththedynamicsoferrorsandparametricuncertain
4、tiespresentinthecontrolthequadrotorUAVandthesuspendedload.AnonlinearH¥designstage.AusualapproachinordertodealwithsystemcontrollerforunderactuatedmechanicalsystemsisproposedimperfectionsonthecontroldesignstageistheH¥controltakingintoaccountbothactuatedDOFduetoinput-couplingan
5、dunactuatedones.Furthermore,anadditionalcontrollawtheory[5].SeveralworkshaveproposednonlinearH¥obtainedthroughtheLyapunovredesigntechniqueissummedcontrollersforunderactuatedmechanicalsystems[6],[7],tothenonlinearH¥controllerinordertoreducetheload’s[8],[9].swing.Simulationres
6、ultsarecarriedouttocorroboratetheSincetheobjectivepursuedinthisworkistotransportproposedcontrolstrategy.asuspendedloadbythequadrotorUAValongapredefinedtrajectorywithload’sswing-free,thisworkreformulatestheI.INTRODUCTIONnonlinearH¥controllersproposedin[8],[9].ThenewInrecentyea
7、rs,researchinUnmannedAerialVehiclescontrollertakesintoaccountbothactuatedDOFdueto(UAVs)witnessedsubstantialgrowth.Variousdevelopmentsinput-couplingandunactuatedinordertostabilizetheload.infieldsofcontrolandrobotics,suchassensorfusion,com-Furthermore,anadditionalcontrollawobta
8、inedthroughtheputervision,rapidprototyping,stateestimationandcontrolLyapuno
