ICUAS 2020 Paper Abstract

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Paper WeB4.4

Rodriguez Cortes, Hugo (CINVESTAV-IPN), Mosco Luciano, Alan Paz (CINVESTAV-IPN), Castro-Linares, Rafael (CINVESTAV-IPN)

Trajectory Tracking Control for a Quadrotor with a Slung Load

Scheduled for presentation during the Regular Session "Control Architectures II" (WeB4), Wednesday, September 2, 2020, 16:00−16:20, Naousa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Control Architectures, Path Planning, Simulation

Abstract

This paper presents the synthesis of a nonlinear controller to deal with the trajectory tracking problem for a quadrotor with a slung load constrained to flight on a plane. The control design procedure starts by designing a linearizing saturated controller for the vertical dynamics; then, the backstepping method is employed to synthesize a controller for the resulting closed-loop dynamics. The controller performance is evaluated using numerical simulations, and some experimental results are also reported.

 

 

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