Mixed H2/H∞ Tracking Control with Constraints for Single Quadcopter Carrying a Cable-suspended Payload

In order to control a single quadcopter with a cable-suspended payload to follow the desired trajectory, a mixed H2/H∞ controller with constraints is developed. Firstly, the EulerLagrange dynamic model is built and linearized. Then the extended model for path tracking problem is designed. Based on linear matrix inequality (LMI), state feedback controller H2 and H∞ with constraints is illustrated. Aiming to maintain a good balance in transient behaviors and frequency-domain performance, the mixed controller is presented. Finally, the control strategies are utilized in a simulation test and the result validates the proposed method.