A computationally efficient adaptive robust control scheme for a quad-rotor transporting cable-suspended payloads

This article proposes a computationally efficient adaptive robust control scheme for quad-rotor with cable-suspended payloads. Motion of payload introduces unknown disturbances that affect the performance controlled conventional schemes, thus novel controllers both integer- and fractional-order dynamics are proposed trajectory tracking payload. The acting on due to motion estimated by utilizing laws derived from Lyapunov functions. stability systems is guaranteed using theorems. Overall, three variants namely sliding mode (AFSMC), (ASMC), classical Sliding (SMC)s) tested processor in loop experiments, based two indicators, robustness computational resource utilization, best evaluated. From results presented, it verified ASMC exhibits comparable as SMC AFSMC, while utilizes less sources compared AFSMC.