Nonlinear control of a planar vertical take‐off and landing with a slung load
Abstract This paper presents the development of the dynamical model of a planar vertical take‐off and landing (PVTOL) carrying a suspended load. The complete model is obtained using the Euler–Lagrange approach. Furthermore, the synthesis of a nonlinear control is presented that stabilizes the vehicle to a desired position, and the load is stabilized as well. The stability is obtained using LaSalle invariance theorem. The performance of the obtained controller is shown in numerical simulations.
Authors
- Rogelio Lozano (ORCID: https://orcid.org/0000-0002-5730-6313)
- Sergio Salazar (ORCID: https://orcid.org/0000-0002-5089-1791)
- I. González-Hernández (ORCID: https://orcid.org/0000-0001-8872-9370)
- Samantha Calderón
Institutions
- Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (MX)
Publication Details
- Journal
- Asian Journal of Control
- Published
- 2024-10-11
- DOI
- https://doi.org/10.1002/asjc.3517
- Primary Topic
- Adaptive Control of Nonlinear Systems
- Type
- article
- Field-Weighted Citation Impact
- 0.00