Intelligent control of an UAV with a cable-suspended load using a neural network estimator

作者：

Highlights：

• UAV with load suspended by cable Intelligent control.

• Quadrotor with cable-suspended load mathematical model by hybrid automata formalism.

• NN continuously estimates external disturbance generated by suspended-load.

• On-line learning of the neuro-estimator increases the robustness of the control.

• Good UAV cyclic helical and polyline trajectory tracking.

摘要

•UAV with load suspended by cable Intelligent control.•Quadrotor with cable-suspended load mathematical model by hybrid automata formalism.•NN continuously estimates external disturbance generated by suspended-load.•On-line learning of the neuro-estimator increases the robustness of the control.•Good UAV cyclic helical and polyline trajectory tracking.

论文关键词：Modelling,Intelligent control,Hybrid automata,Neural networks,Unmanned Aerial Vehicle (UAV),Cable-suspended load

论文评审过程：Received 21 January 2020, Revised 9 May 2021, Accepted 7 June 2021, Available online 12 June 2021, Version of Record 29 June 2021.

论文官网地址：https://doi.org/10.1016/j.eswa.2021.115380