Robust FOSMC of quadrotor in the presence of slung load

Sami El Ferik; Fahad M Al-Qahtani; Abdul-Wahid A Saif; Mujahed Al-Dhaifallah

doi:10.1016/j.isatra.2023.04.023

Robust FOSMC of quadrotor in the presence of slung load

ISA Trans. 2023 Aug:139:106-121. doi: 10.1016/j.isatra.2023.04.023. Epub 2023 Apr 28.

Authors

Sami El Ferik¹, Fahad M Al-Qahtani², Abdul-Wahid A Saif¹, Mujahed Al-Dhaifallah³

Affiliations

¹ Control and Instrumentation Engineering Department, King Fahd University of Petroleum & Minerals, Dhahran 3126, Saudi Arabia; Interdisciplinary Research Center (lRC) for Smart Mobility and Logistics, King Fahd University of Petroleum & Minerals, Dhahran 31261, Saudi Arabia.
² Electrical Engineering Department, Jubail Industrial College, Jubail 31961, Saudi Arabia.
³ Control and Instrumentation Engineering Department, King Fahd University of Petroleum & Minerals, Dhahran 3126, Saudi Arabia; IRC for Renewable Energy and Power Systems (IRC-REPS), King Fahd University of Petroleum & Minerals, Dhahran 31261, Saudi Arabia. Electronic address: mujahed@kfupm.edu.sa.

PMID: 37156691
DOI: 10.1016/j.isatra.2023.04.023

Abstract

This study aims to develop a robust control for the quadrotor slung-load system that efficiently follows a reference trajectory. A fractional-order robust sliding mode control has been chosen to control the quadrotor's altitude, position, and attitude. An anti-swing controller was also installed to limit the swing angle of the suspended load. It was created via delayed feedback, in which the quadrotor's position reference trajectory is changed by the difference of the load angles within a specific delayed value. Designing an adaptive FOSMC would control the system when the system uncertainties do not know the bounds. Moreover, the control parameters and the anti-swing controller for the FOSMC can be obtained using some optimization techniques to increase the controllers' accuracy.

Keywords: FOSMC; Quadrotor; Slung load; Unnamed Aerial Vehicles.