KF-Based Active Modeling for a Quadrotor Slung Load System

Abstract

The control of quadrotor slung load (QSL) systems is a challenging task as a result of some distinguishing features like the multiple nonlinearities and time-varying load swing. To design an effective control scheme, the top priority is to establish an excellent model. In this paper, a practical active modeling method based on the Kalman Filter (KF) for a QSL system is developed to compensate uncertainties in system dynamics. First, a simplified quadrotor model is formulated as the reference model. Second, modeling errors are introduced and the KF is adopted to actively estimate the errors involved in the reference model. Finally, some experiments are conducted to validate the remarkable performance of the proposed modeling strategy in terms of uncertainties as well as disturbances in the dynamic model.

Anti‐swing control and trajectory planning of quadrotor suspended payload system with variable length cable

“…Equations ( 1) ∼ (4), (17), and ( 21) constitute the mathematical model of QSPSV, in which (1) ∼ (4) mainly describe the dynamics of the quadrotor, ( 17) and ( 21) describe the dynamic model of payload's pendulum angles. It can be seen from the modeling analysis of the QSPSV, the disturbance of the hanging part to quadrotor is related to the motion state of quadrotor itself, the equations ( 10)∼( 14) illustrate clearly at this point.…”

“…[14] and [15] use the Newton-Euler method to establish the mathematical models of the quadrotor and the hanging system respectively belonging to the second modeling method. Besides, Yi et al [16,17] propose a Kalman Filter (KF)-based active modeling method for the quadrotor suspended payload system respect to un-modeled parts. In the above modeling process, it's worth noting that the cable length of the suspended payload is considered as a fixed value.…”

Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load

“…A quadrotor carrying a cable-suspended load is usually called a quadrotor slung load (QSL) system. There are distinct advantages for using a QSL system to transport cargos [1][2][3]. A QSL system can freely pass complex terrains and access the locations which are hard for the ground vehicle transportation.…”

“…However, in spite of the benefits the QSL system could provide, the swing load will seriously influence the dynamics of the QSL system [4] and increase its degrees of freedom [5]. The dynamics of a QSL system are strongly nonlinear, coupled, and underactuated, remaining many challenging problems in the controller design [1][2][3][4][5]. Generally, there are two ways to improve the performance of a QSL system, namely: (1) trying to construct a more accurate model that meets the QSL dynamics so that the controller can use it to compensate the complex dynamics; and (2) designing a controller that could reject the unmodeled uncertainties effectively, while achieving good control performance at the same time.…”