Abstract
This work presents a control strategy for a Newton-Euler-based UAV-Slung Load System (UAV-SLS), which is subdivided into translational and rotational subsystems. A delayed feedback mechanism is incorporated into the translational subsystem to mitigate load swing. An augmented anti-swing control strategy enables adaptive backstepping control of the decoupled translational dynamics, while a robust fast terminal sliding mode controller is employed for the rotational subsystem. The control design is guided by Lyapunov functions, and simulation results demonstrate accurate trajectory tracking and effective load swing attenuation, validating the proposed method.
| Original language | English |
|---|---|
| Title of host publication | 2025 10th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2025 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 876-881 |
| Number of pages | 6 |
| ISBN (Electronic) | 9798331503079 |
| DOIs | |
| State | Published - 2025 |
| Event | 2025 10th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2025 - Portsmouth, United Kingdom Duration: 1 Aug 2025 → 3 Aug 2025 |
Publication series
| Name | 2025 10th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2025 |
|---|
Conference
| Conference | 2025 10th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2025 |
|---|---|
| Country/Territory | United Kingdom |
| City | Portsmouth |
| Period | 1/08/25 → 3/08/25 |
Bibliographical note
Publisher Copyright:© 2025 IEEE.
ASJC Scopus subject areas
- Artificial Intelligence
- Electrical and Electronic Engineering
- Mechanical Engineering
- Safety, Risk, Reliability and Quality
- Control and Optimization
- Modeling and Simulation
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