Abstract
Unmanned quadcopter transportation systems present extremely strong underactuated characteristics. Due to the unmodeled dynamics and unknown disturbances in practical flight, existing control schemes may lead to poor control effects or even control failure. This paper presents a robust tracking control for unmanned quadcopter transportation systems, which can achieve accurate trajectory tracking and eliminate unexpected payload swings effectively. Simulations are provided to verify the effectiveness of the control scheme against unknown uncertainties.
This work was supported in part by National Natural Science Foundation of China under Grant 61873132 and Grant 91848203, in part by the Young Elite Scientists Sponsorship Program by Tianjin under Grant TJSQNTJ-2020-21, in part by Natural Science Foundation of Tianjin under Grant 19JCQNJC03500, and in part by the China Postdoctoral Science Foundation under Grant 2020M670632. (Corresponding author: Xiao Liang).
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Huang, J., Yu, H., Liang, X., Fang, Y., Han, J. (2023). \({\mathcal {L}}_1\) Adaptive Control for Unmanned Quadcopter Transportation Systems. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_364
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DOI: https://doi.org/10.1007/978-981-19-6613-2_364
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