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 Euler-Lagrange 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.