This article proposes a computationally efficient adaptive robust control scheme for a quad-rotor with cable-suspended payloads. Motion of payload introduces unknown disturbances that affect the performance of the quad-rotor controlled with conventional schemes, thus novel adaptive robust controllers with both integer- and fractional-order dynamics are proposed for the trajectory tracking of quad-rotor with cable-suspended payload. The disturbances acting on quad-rotor due to the payload motion are estimated by utilizing adaptive laws derived from integer- and fractional-order Lyapunov functions. The stability of the proposed control systems is guaranteed using integer- and fractional-order Lyapunov theorems. Overall, three variants of the control schemes, namely adaptive fractional-order sliding mode (AFSMC), adaptive sliding mode (ASMC), and classical Sliding mode controllers (SMC)s) are tested using processor in the loop experiments, and based on the two performance indicators, namely robustness and computational resource utilization, the best control scheme is evaluated. From the results presented, it is verified that ASMC scheme exhibits comparable robustness as of SMC and AFSMC, while it utilizes less sources as compared to AFSMC.

本文提出了一种具有电缆悬挂有效载荷的四旋翼的高效计算的自适应鲁棒控制方案。有效载荷的运动会引入未知干扰，这些干扰会影响采用传统方案控制的四旋翼飞机的性能，因此，提出了具有整数阶和分数阶动力学的新型自适应鲁棒控制器，用于带有电缆悬吊式有效载荷的四旋翼飞机的轨迹跟踪。通过利用从整数阶和分数阶Lyapunov函数得出的自适应定律，估算由于有效载荷运动而对四旋翼产生的干扰。使用整数阶和分数阶Lyapunov定理可以保证所提出控制系统的稳定性。总体而言，控制方案有三种变体，即自适应分数阶滑模（AFSMC），自适应滑模（ASMC），在循环实验中，使用处理器对传统的滑模控制器（SMC）和经典滑模控制器（SMC）进行了测试，并基于鲁棒性和计算资源利用率这两个性能指标，对最佳控制方案进行了评估。从给出的结果可以证明，ASMC方案显示出与SMC和AFSMC相当的鲁棒性，而与AFSMC相比，它使用的资源更少。