Adaptive control method for unmanned vehicle with slung load
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United States of America Patent
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Sep 29, 2015
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N/A
app pub date -
Apr 23, 2014
filing date -
Apr 23, 2014
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Abstract
The adaptive control method for an unmanned vehicle with a slung load utilizes a feedback linearization controller (FLC) to perform vertical take off, hovering and landing of an unmanned aerial vehicle with a slung load, such as a quadrotor drone or the like. The controller includes a double loop architecture, where the overall controller includes an inner loop having an inner controller which is responsible for controlling the attitude angles and the altitude, and an outer loop having an outer controller responsible for providing the inner loop inner controller with the desired angle values. States, such as including roll, pitch, yaw and/or altitude, are selected as outputs and the feedback linearization technique is used.
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