Journal Papers

Nonlinear backstepping control of a quadrotor-slung load system

Abstract:
This paper presents a nonlinear backstepping controller designed for an underactuated quadrotor-slung load system that drives the load to a predefined trajectory. The quadrotor and the load are modeled as a rigid body and a point mass, respectively. The controller is designed through Lyapunov and backstepping techniques, and the control laws for thrust and angular velocity are presented, which guarantee the closed-loop system to be asymptotically stable. Experimental results are provided to assess the validity and performance of the proposed controller.
Impact factor:
URL:
https://ieeexplore.ieee.org/abstract/document/8768020

IEEE/ASME Transactions on Mechatronics, vol. 24, no. 5, pp. 2304–2315