Nonlinear Control Design And Synthesis For The Underactuated Unmanned Aerial Vehicle Slung Payload Transportation System

Rcently,lots of research groups have started on the research of the aerial cargo transportation system which consists of a quadrotor unmanned aerial vehicle(UAV)and a slung payload,owing to the fast growth of the microprocessor technology and the new energy technology.The system of a quadrotor UAV slung a payload has a very promising application in different areas,especially in the package delivery industry.The quadrotor-slung payload system is a highly coupled,nonlinear,underactuated mechanical system,and is of high degree of freedom.Therefore,the control design for this system is a vary challenging task.In summary,the research about the system of a quadrotor UAV slung a payload is full of opportunity and challenge.Hence,in the most recent decade,many research groups have been interested in the research on the control design for the quadrotor-slung payload system.In response to the limitations and deficiencies in the existing works,this dissertation investigates the control design problem of the system of a quadrotor UAV with a suspended payload.To be specific,for the quadrotor UAV slung a payload transportation system,the contributions of this dissertation are listed as follows:1.The control problem of the system of the quadrotor UAV slung a payload is investigated.An energy-based nonlinear controller is proposed that is able to control the quadrotor UAV’s position and the payload’s swing motion asymptotically.An adaptive control design is developed to compensate for the unknown length of the cable which is used to connect the UAV and the payload.2.The control problem of the system of the quadrotor UAV slung a payload is investigated under the effects of unknown exogenous disturbances.A novel nonlinear controller based on the robust integral of the sign of the error(RISE)is developed to deal with the position trajectory tracking control and the anti-swing control of the slung a payload with the presence of unknown air turbulence.3.This dissertation investigates the exponential regulation control design for the system of the quadrotor UAV slung a payload.Partial feedback linearization methodology is employed to formulate a nonlinear controller which yields an exponential regulation result of the quadrotor unmanned aerial vehicle position while the swing motion of the payload is suppressed exponentially fast.4.This dissertation investigates the finite-time convergence robust control problem.By taking advantage of the cascade property,a new hierarchical control scheme is designed to divide the control problem into three parts.For the quadrotor attitude motion control,the non-singularity terminal sliding mode based control law is proposed.For the quadrotor translation motion control,the super-twisting based control law is designed.Additional,for the swing attenuation of the slung a payload,a nonlinear anti-swing control design is provided.In this dissertation,for each control design,the stability of the closed-loop system is proved via Lyapunov based stability analysis.At the same time,the real-time flight experimental results are employed to validate the good performances of the proposed control schemes.Therefore,the effectiveness of all the control strategy in this dissertation is provided both in theory and in practice.