Jiang, Zifei (University of Alberta), Al Lawati, Mohamed (University of Alberta), Mohammadhasani, Arash (University of Alberta), Lynch, Alan (U Alberta)

Flatness-Based Motion Control of a UAV Slung Load System Using Quasi-Static Feedback Linearization

Scheduled for presentation during the Regular Session "Multirotor Design and Control I" (WeB3), Wednesday, June 22, 2022, 16:30−16:50, Divona-1

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 20, 2024

Abstract

This paper proposes an algorithm for deriving a quasi-static feedback for a general nonlinear differentially flat system. We apply this algorithm to design a quasi-static controller to track the payload position and yaw of a multirotor slung load system (SLS). The design achieves full state feedback linearization of SLS with the important property that the control law is a static function of SLS state, ie no additional controller states are required as in full linearization achieved by the dynamic extension algorithm (DEA). The proposed controller ensures linear time-invariant exponentially stable error dynamics on a well-defined and practical region of state space. The design is validated in simulation.