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A novel nonlinear control scheme for double-pendulum quadrotor transportation systems
Liang X(梁潇)1,2; Zhang, Peng1; Fang YC(方勇纯)1; Lin, He1; Li, Chenping1; Zhao XG(赵新刚)2
Department机器人学研究室
Conference Name2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
Conference DateJuly 8-12, 2019
Conference PlaceHong Kong, China
Source PublicationProceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages714-719
Indexed ByEI
EI Accession number20194507620077
Contribution Rank1
ISBN978-1-7281-2493-3
AbstractQuadrotor transportation systems are capable of transferring necessary relief supplies in emergency tasks. In practice, the nonnegligible hook and the payload's scale make the system exhibits double-pendulum swing dynamics, which bring great challenges to controller design and stability analysis. To realize rapid swing suppression and efficient quadrotor positioning, a nonlinear controller is designed. Specifically, a composite signal is constructed. The closed-loop asymptotic stability analysis and simulation results are provided to verify the effectiveness of the control scheme.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25876
Collection机器人学研究室
Affiliation1.Institute of Robotics and Automatic Information System, Tianjin Key Laboratory of Intelligent Robotics, Nankai University, 300350, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Liang X,Zhang, Peng,Fang YC,et al. A novel nonlinear control scheme for double-pendulum quadrotor transportation systems[C]. New York:IEEE,2019:714-719.
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