dynamics modeling and control of a quadrotor with swing load

Clicks: 201
ID: 161333
2014
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Abstract
Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in order to control the position and attitude of the quadrotor. The performance of this proposed controller is evaluated by nonlinear simulations and, finally, the results demonstrate the effectiveness of the control strategy for the quadrotor with suspended load in various maneuvers.
Reference Key
sadr2014journaldynamics Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;S. Sadr;S. Ali A. Moosavian;P. Zarafshan
Journal asse professional development conference 2017, safety 2017
Year 2014
DOI
10.1155/2014/265897
URL
http://dx.doi.org/10.1155/2014/265897
Keywords
Mechanical engineering and machinery

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