Robust Control for a Quadrotor Transporting a Payload

摘要

This works presents a control strategy for a quadrotor carrying a cable-suspended payload. In order to stabilize the vehicle translational dynamics and to attenuate the payload swing, a robust control is developed. The controller is based on an energy approach and the passivity properties of the system. Stability proofs based on the Lyapunov theory for the controller design are presented. Numerical simulations were carried out to validate the nonlinear control behaviors.