Adaptive Control of a Quadrotor UAV （自适应控制Quadrotor无人机）.pdf

53rd IEEE Conference on Decision and Control December 15-17, 2014. Los Angeles, California, USA Adaptive Control of a Quadrotor UAV Transporting a Cable-Suspended Load with Unknown Mass Shicong Dai, Taeyoung Lee, and Dennis S. Bernstein Abstract— We design an adaptive controller for a quadrotor UAV transporting a point-mass payload connected by a flexible 4 1 cable modeled as serially-connected rigid links. The mass of 3 2 the payload is uncertain. The objective is to transport the payload to a desired position while aligning the links along the vertical direction from an arbitrary initial condition. A fixed- gain nonlinear proportional-derivative controller is presented to achieve the desired performance for a nominal payload mass, and a retrospective cost adaptive controller is used to compensate for the payload mass uncertainty. I. INTRODUCTION Fig. 1. Quadrotor UAV with a cable-suspended load. The cable is modeled as a serial connection of an arbitrary number of links (We show 5 links here Quadrotor unmanned aerial vehicles have the desirable as an example). It i