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Fuzzy Adaptive Backstepping Trajectory Tracking Control of Quadrotor Suspension System with Input Saturation

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Abstract

This paper introduces a novel control method for the quadrotor suspension system, addressing the challenges posed by a suspended load, external disturbances, input saturation and model dynamic uncertainty. The primary goal of this method is to achieve precise quadrotor trajectory tracking while minimizing oscillations in the suspended load. To model the system, the Udwadia-Kalaba equation is employed to handle the interaction between the quadrotor and the suspended load. Input saturation is mitigated using the hyperbolic tangent function, and a trapezoidal acceleration algorithm is utilized for trajectory design. To deal with composite disturbances, an adaptive fuzzy control method is developed and a double closed-loop nonlinear control method ensures system stability based on the Lyapunov stabilization criterion. Simulation results confirm the method’s effectiveness in accurately regulating the quadrotor system in the presence of external disturbances and model uncertainties, while also reducing suspended load oscillations under input saturation conditions.

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All data generated or analyzed during this study are included in this published article [and its supplementary information files].

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Acknowledgements

This research was supported by National Key Research and Development Program of China(Grant number 2022YFB4301401), National Natural Science Foundation of China (Grant number 61976033), Pilot Base Construction and Pilot Verification Plan Program of Liaoning Province of China (Grant number 2022JH24/10200029), Key Development Guidance Program of Liaoning Province of China(Grant number 2019JH8/10100100), China Postdoctoral Science Foundation(Grant number 2022M710569).

Funding

This work was supported by National Key Research and Development Program of China(Grant number 2022YFB4301401), National Natural Science Foundation of China (Grant number 61976033), Pilot Base Construction and Pilot Verification Plan Program of Liaoning Province of China (Grant number 2022JH24/10200029), Key Development Guidance Program of Liaoning Province of China(Grant number 2019JH8/10100100), China Postdoctoral Science Foundation(Grant number 2022M710569).

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Author notes

  1. Yunsheng Fan, Guofeng Wang and Dongdong Mu have contributed equally to this work.

Authors and Affiliations

  1. College of Marine Electrical Engineering, Dalian Maritime University, No. 1, Linghai Road, Dalian, 116026, Liaoning, China

    Xinyu Chen, Yunsheng Fan, Guofeng Wang & Dongdong Mu

  2. Key Laboratory of Technology and System for Intelligent Ships of Liaoning Province, Dalian Maritime University, No. 1, Linghai Road, Dalian, 116026, Liaoning, China

    Xinyu Chen, Yunsheng Fan, Guofeng Wang & Dongdong Mu

Authors
  1. Xinyu Chen
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  2. Yunsheng Fan
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Contributions

All authors contributed to the study conception and design. Material preparation was performed by [Yunsheng Fan], [Guofeng Wang] and [Dongdong Mu], data collection and analysis were performed by [Xinyu Chen]. The first draft of the manuscript was written by [Xinyu Chen] and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.”

Corresponding author

Correspondence to Yunsheng Fan.

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Chen, X., Fan, Y., Wang, G. et al. Fuzzy Adaptive Backstepping Trajectory Tracking Control of Quadrotor Suspension System with Input Saturation. Int. J. Fuzzy Syst. (2024). https://doi.org/10.1007/s40815-023-01655-2

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  • DOI: https://doi.org/10.1007/s40815-023-01655-2

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