A Dual-Controller of Quadrotor UAV Elastic Hanging Model Based on Event-Triggered Mechanism and Its Control Design
In this paper, the dynamic model of the quadrotor with an elastic hangded payload is analysised, and a new control strategy based on the event triggering mechanism, sliding mode control and energy analysis method is designed for the dynamic model. The energy based control law is employed for the acc...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10851268/ |
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| author | Sen Yang Hang Guo Jigang Tong Tian Xie Jingyi Yan |
| author_facet | Sen Yang Hang Guo Jigang Tong Tian Xie Jingyi Yan |
| author_sort | Sen Yang |
| collection | DOAJ |
| description | In this paper, the dynamic model of the quadrotor with an elastic hangded payload is analysised, and a new control strategy based on the event triggering mechanism, sliding mode control and energy analysis method is designed for the dynamic model. The energy based control law is employed for the accurate positioning task near the equilibrium point, and sliding mode control law is used to avoid the swing of the hanging payload during the transporting process. The former is designed based on the robust sliding mode control, and the latter is designed based on the energy analysis method, and the stability analysis of the designed system and the control law is carried out using the Lyapunov method and the Russell’s invariant theorem. A group of simulation results is presented to illustrate the effectiveness of the algorithms. |
| format | Article |
| id | doaj-art-6ffe3d78e78f487898725f70a248b870 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-6ffe3d78e78f487898725f70a248b8702025-01-31T00:01:29ZengIEEEIEEE Access2169-35362025-01-0113177241773210.1109/ACCESS.2025.353302810851268A Dual-Controller of Quadrotor UAV Elastic Hanging Model Based on Event-Triggered Mechanism and Its Control DesignSen Yang0https://orcid.org/0000-0002-6481-2134Hang Guo1Jigang Tong2https://orcid.org/0000-0002-6740-4179Tian Xie3https://orcid.org/0000-0001-5303-1095Jingyi Yan4School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin, ChinaSchool of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin, ChinaSchool of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin, ChinaSchool of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin, ChinaTianjin Qicheng Science and Technology Company Ltd., Tianjin, ChinaIn this paper, the dynamic model of the quadrotor with an elastic hangded payload is analysised, and a new control strategy based on the event triggering mechanism, sliding mode control and energy analysis method is designed for the dynamic model. The energy based control law is employed for the accurate positioning task near the equilibrium point, and sliding mode control law is used to avoid the swing of the hanging payload during the transporting process. The former is designed based on the robust sliding mode control, and the latter is designed based on the energy analysis method, and the stability analysis of the designed system and the control law is carried out using the Lyapunov method and the Russell’s invariant theorem. A group of simulation results is presented to illustrate the effectiveness of the algorithms.https://ieeexplore.ieee.org/document/10851268/Event triggering mechanismsliding mode controlenergy analysisquadrotor UAVelastic hanging |
| spellingShingle | Sen Yang Hang Guo Jigang Tong Tian Xie Jingyi Yan A Dual-Controller of Quadrotor UAV Elastic Hanging Model Based on Event-Triggered Mechanism and Its Control Design IEEE Access Event triggering mechanism sliding mode control energy analysis quadrotor UAV elastic hanging |
| title | A Dual-Controller of Quadrotor UAV Elastic Hanging Model Based on Event-Triggered Mechanism and Its Control Design |
| title_full | A Dual-Controller of Quadrotor UAV Elastic Hanging Model Based on Event-Triggered Mechanism and Its Control Design |
| title_fullStr | A Dual-Controller of Quadrotor UAV Elastic Hanging Model Based on Event-Triggered Mechanism and Its Control Design |
| title_full_unstemmed | A Dual-Controller of Quadrotor UAV Elastic Hanging Model Based on Event-Triggered Mechanism and Its Control Design |
| title_short | A Dual-Controller of Quadrotor UAV Elastic Hanging Model Based on Event-Triggered Mechanism and Its Control Design |
| title_sort | dual controller of quadrotor uav elastic hanging model based on event triggered mechanism and its control design |
| topic | Event triggering mechanism sliding mode control energy analysis quadrotor UAV elastic hanging |
| url | https://ieeexplore.ieee.org/document/10851268/ |
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