LQG/LTR-PID based Controller Design of UAV Slung-Load Transportation System

Abstract

This paper copes with control design for unmanned aerial vehicle transportation system. Moving pendulum dynamics of slung-load system is derived using two methods: Udwadia-Kalaba equation and Newtonian approach. PID controller is applied to Udwadia-Kalaba equation model for structural consistency and linear quadratic Gaussian / Loop Transfer Recovery (LQG/LTR) technique is employed for Newtonian model with minimal state-space realization. Characteristics of PID and LQG/LTR controller are compared, and two controllers are combined to compensate the drawbacks of each other. Numerical simulation is set for two cases and conducted to evaluate performance of designed controllers. The result proves that combination of LQG/LTR and PID control performs stable and robust.Keywords: unmanned aerial vehicle, slung-load dynamics, PID control design, linear quadratic gaussian, loop transfer recovery Copyright© ICROS 2014 그림1. 복수무인기의슬렁-로드시스템.