This paper investigates the control problem for a quadrotor with a cable-suspended payload (QCSP). A new adaptive control strategy is designed to control the velocity of a volumetric payload with unknown mass in the presence of rotor downwash. The asymptotic stability of the resulting closed-loop system is analysed via the Lyapunov method. Furthermore, a novel structure is designed to suspend the payload on the quadrotor by a cable, and a gyroscope is installed on this structure to measure the payload's swing angle. The designed controller's performance is demonstrated by simulations implemented in a Simulink/SimMechanics environment. The effectiveness of the proposed control scheme is validated in real experiments.

中文翻译：

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在存在转子下洗流的情况下，四旋翼飞行器运输未知质量的缆绳悬挂有效载荷的自适应控制


本文研究了带有缆绳悬挂有效负载（QCSP）的四旋翼飞行器的控制问题。一种新的自适应控制策略旨在在存在转子下洗流的情况下控制质量未知的体积有效载荷的速度。通过 Lyapunov 方法分析所得闭环系统的渐近稳定性。此外，还设计了一种新颖的结构，通过电缆将有效载荷悬挂在四旋翼飞行器上，并在该结构上安装陀螺仪来测量有效载荷的摆动角度。设计的控制器的性能通过在 Simulink/SimMechanics 环境中实现的仿真得到验证。所提出的控制方案的有效性在实际实验中得到了验证。