abstract
- © 2021 IEEE.This paper introduces a suspended-payload swing attenuation trajectory control for a fully-actuated hexacopter unmanned aerial vehicle. The system modeling is formulated using the Euler-Lagrange convention. By assuming only rotorcraft position available, whereas the payload position unavailable, an extended high gain observer is designed to provide a full state and estimate the effect of the suspended payload over the aircraft. Then, such estimation is used to dampen the oscillations produced by motion and external perturbations. Furthermore, a flight control based on the adaptive sliding mode algorithm is conceived to satisfy the desired trajectories even in presence of disturbances. Finally, the simulation results show the feasibility of our proposed strategy to perform a flight by the hexacopter, while dampening the swings of the payload.