A novel nonlinear control scheme for double-pendulum quadrotor transportation systems
文献类型：会议论文
| 作者 | Liang X(梁潇)1,2; Zhang P(张鹏)1 ; Fang YC(方勇纯)1; Lin H(林河)1; Li, Chenping1; Zhao XG(赵新刚)2
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| 出版日期 | 2019 |
| 会议日期 | July 8-12, 2019 |
| 会议地点 | Hong Kong, China |
| 页码 | 714-719 |
| 英文摘要 | Quadrotor 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. |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-2493-3 |
| WOS记录号 | WOS:000531652900120 |
| 源URL | [http://ir.sia.cn/handle/173321/25876]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Fang YC(方勇纯) |
| 作者单位 | 1.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 |
| 推荐引用方式 GB/T 7714 | Liang X,Zhang P,Fang YC,et al. A novel nonlinear control scheme for double-pendulum quadrotor transportation systems[C]. 见:. Hong Kong, China. July 8-12, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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