Optimal Nonlinear backstepping controller design of a Quadrotor-Slung load system using particle Swarm Optimization
A backstepping control strategy for an underactuated quadrotor slung load system is presented in this paper. The issue of trajectory tracking for a cable-suspended load is addressed. A rigid body and a point mass are used to model the Quadrotor and slung-load, respectively. Lyapunov theory and backs...
| Autores principales: | , , , , |
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| Formato: | Artículo |
| Lenguaje: | English |
| Publicado: |
Elsevier
2023-04-01
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| Colección: | Alexandria Engineering Journal |
| Materias: | |
| Acceso en línea: | http://www.sciencedirect.com/science/article/pii/S1110016823000753 |