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In this article, a flexible performance constraint-based tracking control scheme is proposed for the anti-swing control of a quadrotor UAV-suspended payload system under external disturbance and input saturation. By applying system coupling relations and positive system theory, a self-regulating auxiliary system is constructed to generate correction signals to achieve the ability to regulate a prescribed performance function. The disturbance interval observer is employed to estimate the unknown disturbance. The interval width of the disturbance is used to design a continuous robust signal, enhancing the system's robustness. Additionally, it is with the intention of designing the controller for the under-actuated system to achieve effective tracking that the backstepping control scheme is used. It can always track the reference signal and satisfy flexible performance constraints based on theoretical analysis. Finally, the effectiveness of the proposed scheme is verified by experimental studies. [ABSTRACT FROM AUTHOR]

An integrated guidance and control scheme is proposed on path following for the unmanned aerial vehicle. It is capable of handling the coupled non-linearities of the path's kinematics and the aircraft's dynamics independently. In the path coordinate, the guidance law is designed based on a nominal model, and the non-linearity of the path's kinematics is taken into full consideration. In the time coordinate, the flight control law is designed as a feed-forward controller, and it can guarantee the robustness of the guidance law with respect to the actual aircraft's dynamics. Instead of only employing Lyapunov method, the concept of immersion and invariance is also applied to explicitly analyse the stability in both time and path coordinates, and the asymptotic stability of the closed-loop system can be guaranteed. What is more, the regulation-based and immersion-based adaptive technologies are synthetically utilised to handle the unknown parameters. Finally, the numerical simulations demonstrate the effectiveness of the developed integrated guidance and control scheme. [ABSTRACT FROM AUTHOR]