Dynamics Modeling and Control of a Quadrotor with Swing Load

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.

Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration

“…Input command shaping has a long history in suppressing vibrations in systems such as cranes [8][9][10]. In [11], a combination of a feedforward ZVD shaper to reduce payload oscillations was used together with a feedback modelbased controller. In [12], the authors implemented input command shaping for vibration suppression in conjunction with a feedback linearizing controller for the quadrotor.…”

Energy-Based Control and LMI-Based Control for a Quadrotor Transporting a Payload

“…For this work, Nicotra et al considered the design for the two-dimensional case only and the attitude control of the vehicle was not considered. Moreover, a feed-forward control algorithm for reducing or canceling the payload's oscillation is introduced in [6]. This controller was designed by implementing the input shaping theory.…”

Control deslizante fraccionario de la trayectoria y orientación de un quadrotor con cargas suspendidas desconocidas

“…Se han realizado muchos esfuerzos de investigación orientados a tratar el problema del control de vuelo de quadrotores con cargas suspendidas desconocidas. Los autores de (Dai et al, 2014) propusieron un controlador adaptable para un rotor cuádruple portador de una masa desconocida suspendida cuyo modelo dinámico se explica en (Sadr et al, 2014). El trabajo (Outeiro et al, 2018) presenta el control de la altura de un quadrotor también basado en un controlador adaptable, que automáticamente ajusta las ganancias de un control LQR.…”