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Method to Measure Tone of Axial and Proximal Muscle
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Published on: December 14, 2011

Finite-time swing attenuation for differentially flat quadrotor slung-load systems via robust AFITSM-OSMC partitioned

Huiyu Sun1, Xinyan Gu1, Kun Zheng1

  • 1School of Traffic Engineering, Nanjing Institute of Technology, Nanjing 211167, China.

ISA Transactions
|June 23, 2026
PubMed
Summary

This study introduces a robust control strategy for quadrotor slung-load systems to minimize swing. The novel approach significantly reduces swing angles and improves tracking accuracy, even with uncertainties and disturbances.

Keywords:
Differential flatnessFinite time convergenceQuadrotor slung-load systemsRobust partitioned controlSwing attenuation

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Aerospace Engineering

Background:

  • Quadrotor slung-load systems present significant control challenges due to inherent nonlinearity, underactuation, and dynamic coupling.
  • Existing control methods struggle with model uncertainties, external disturbances, and dynamic load variations, leading to persistent oscillations and poor tracking performance.

Purpose of the Study:

  • To develop a robust partitioned control strategy for effective swing attenuation in quadrotor slung-load systems.
  • To address challenges posed by nonlinearity, underactuation, dynamic coupling, model uncertainties, and external disturbances.

Main Methods:

  • The system's differential flatness was established, enabling partitioning into a fully actuated subsystem (FAS) and an underactuated subsystem (UAS).
  • An adaptive nonsingular fast integral terminal sliding mode (AFITSM) controller was designed for the FAS to ensure finite-time convergence and robustness via online uncertainty estimation.
  • An overall sliding mode control (OSMC) strategy was formulated for the UAS to coordinate lateral motion and achieve swing damping.

Main Results:

  • The proposed AFITSM-OSMC controller reduced tracking Root Mean Square Error (RMSE) by 89%-99% and swing angles by 87%-93% compared to benchmark methods.
  • Finite-time convergence was guaranteed within 1.7 seconds under various uncertainties and disturbances.
  • Under dynamic load variations, the system limited maximum swing to 7.2 degrees and achieved rapid stabilization, outperforming benchmarks.

Conclusions:

  • The developed AFITSM-OSMC strategy offers superior tracking precision and rapid swing attenuation for quadrotor slung-load systems.
  • The control scheme demonstrates significant robustness against model uncertainties, external disturbances, and dynamic load variations.
  • Drastic suppression of control chattering and reduction in peak torque rates by over 85% highlight the practical deployability and efficiency of the proposed method.