Adaptive Sliding Mode Control of Quadrotor System with Elastic Load Connection of Unknown Mass
Year: 2024
Type: article
Abstract: During quadrotor load transport, the cable’s elasticity exacerbates load fluctuations, which may result in platform instability or a potential crash. This paper introduced a model of the connecting cable as a spring-damper system and established the dynamic model of the suspension system based on Newton’s law. Nonsingular fast terminal sliding mode control (NFTSMC) was employed for attitude, position, and anti-swing controller design. Adaptive controllers were integrated into altitude control to address uncertainties related to load mass and cable length. The inclusion of an anti-swing controller into the position control loop effectively dampens load oscillations while ensuring accurate position tracking. Numerical simulations demonstrated that the proposed controller outperforms both the energy-based controller and the conventional linear sliding mode controller.
Source: Drones
Authors: Longchao Ru, Jiale Liu, Binqi Chen, Dengnuo Chen, Zeyin Fan
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,955
OpenAlex ID: W4404755700