Anti-Swing Trajectory Tracking Control for Quadrotor Transport Systems Based on Uncertainty and Disturbance Estimator

When using quadrotor unmanned aerial vehicles (QUAVs) for cargo transporting, the underactuated nature of the QUAV and external disturbances pose significant challenges to task execution. To address the impact of external disturbances and reduce payload swing, this paper proposes an enhanced-coupling and disturbance-resistant trajectory tracking controller for a QUAV transporting system. By enhancing the coupling characteristics between the QUAV and the payload, the suppression of payload swing is achieved. Utilizing the Uncertainty and Disturbance Estimation (UDE) technology enables estimation and compensation for external disturbances. With the premise of satisfying the growth restriction condition, the inner and outer loop controllers can be designed separately. On this basis, the Lyapunov theorem and LaSalle invariance principle are utilized to demonstrate the asymptotic stability of the system. Simulation results indicate that the controller exhibits excellent control performance in the face of disturbances.