This paper presents an innovative control architecture for tilt-rotor quadcopters with H-configuration transporting unknown, sling payloads. This control architecture leverages on a thorough analysis of the aircraft's equation of motion, which reveals gyroscopic effects that were not fully characterized and were disregarded while synthesizing control algorithms in prior publications. Furthermore, the proposed control architecture employs barrier Lyapunov functions and a novel robust model reference adaptive control law to guarantee a priori user-defined constraints on both the trajectory tracking error and the control input, despite poor information on the aircraft's inertial properties and the presence of unknown, unsteady payloads. Flight tests involving a quadcopter pulling an unmodeled cart by means of a thin rope of unknown length, which is slack at the beginning of the mission, verify the effectiveness of the theoretical results.

中文翻译：

---

牵引未建模推车的倾转旋翼四轴飞行器的约束鲁棒模型参考自适应控制

本文介绍了一种用于具有 H 配置传输未知吊索有效载荷的倾转旋翼四轴飞行器的创新控制架构。这种控制架构利用了对飞机运动方程的彻底分析，揭示了在先前出版物中合成控制算法时未完全表征且被忽视的陀螺效应。此外，所提出的控制架构采用了障碍李雅普诺夫函数和一种新颖的鲁棒模型参考自适应控制律，以保证对轨迹跟踪误差和控制输入的先验用户定义约束，尽管关于飞机惯性特性的信息很差并且存在未知的、不稳定的有效载荷。飞行测试涉及四轴飞行器通过未知长度的细绳拉动未建模的手推车，