A Novel Nonlinear Backstepping-Based Control Approach for Quadrotor Unmanned Aerial Vehicle Transportation Systems

摘要

In this paper, a novel control scheme is proposed for quadrotor unmanned aerial vehicle (UAV) transportation systems. The proposed control law successfully achieves efficient quadrotor transferring and rapid swing elimination simultaneously. Specially, by analyzing the interconnected form of the system, the virtual control input for the outer loop is constructed via an energy-based analysis method, so as to compute the applied thrust and the desired roll angle of the quadrotor. As for the inner loop, a backstepping control method is utilized without the introduction of the time-scale separation principle, and the equilibrium point of the overall close-loop system is proven to be asymptotically stable by Lyapunov techniques and LaSalle's invariance theorem. Simulation results demonstrate the proposed control law's superior performance and good robustness against various uncertainties.