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Adaptive Control of a Quadrotor UAV (自适应控制Quadrotor无人机)
53rd IEEE Conference on Decision and Control
December 15-17, 2014. Los Angeles, California, USA
Adaptive Control of a Quadrotor UAV
Transporting a Cable-Suspended Load with Unknown Mass
Shicong Dai, Taeyoung Lee, and Dennis S. Bernstein
Abstract— We design an adaptive controller for a quadrotor
UAV transporting a point-mass payload connected by a flexible 4 1
cable modeled as serially-connected rigid links. The mass of 3 2
the payload is uncertain. The objective is to transport the
payload to a desired position while aligning the links along the
vertical direction from an arbitrary initial condition. A fixed-
gain nonlinear proportional-derivative controller is presented
to achieve the desired performance for a nominal payload
mass, and a retrospective cost adaptive controller is used to
compensate for the payload mass uncertainty.
I. INTRODUCTION Fig. 1. Quadrotor UAV with a cable-suspended load. The cable is modeled
as a serial connection of an arbitrary number of links (We show 5 links here
Quadrotor unmanned aerial vehicles have the desirable as an example). It i
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