Mathematical Modeling and Control of an Unmanned Aerial System with a Cable Suspended Payload

Godbole, Ameya R.; Subbarao, Kamesh

doi:10.1109/icca.2018.8444279

Cited by 2 publications

(1 citation statement)

References 9 publications

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“…It was used not only to control the position of the quadrotor, but also to attenuate its payload oscillation. The passivity-based controller model was decoupled into an inner and outer loop sub-models, where the inner loop stabilised the attitude of the quadrotor, while the outer loop controlled the translational dynamics, including its load dynamics [21].…”

Section: Introductionmentioning

confidence: 99%

Dynamic responses due to the Dryden gust of an autonomous quadrotor UAV carrying a payload

2022

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Unmanned Aerial Vehicles (UAVs) have been used extensively in many applications, such as surveillance, medical transportation and delivery tasks. These applications usually involve an attachment system to connect a payload. However, when connected to such a coupled system, the UAV exhibits lower flight performance mainly due to gust loads. Mathematical modeling is used in this paper to illustrate the comparison between an UAV with a coupled system and a conventional UAV. Proportional Derivative (PD) and Sliding Mode Control (SMC) approaches are used to evaluate the vibrations of the payload, and the UAV trajectory subjected to Dryden gust. This work therefore uses these methods to investigate the dynamic response of a quadrotor-type UAV equipped with a payload and a flexible attachment system.

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Section: Introductionmentioning

confidence: 99%

Dynamic responses due to the Dryden gust of an autonomous quadrotor UAV carrying a payload

2022

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Adaptive control of quadrotor suspended load systems with variable payload and wind disturbances

Wang,

Shen,

Qiu

et al. 2024

IET Control Theory & Appl

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This paper introduces an adaptive control scheme for quadrotor suspended load systems, to track desired trajectory with variable payload and wind disturbances. The dynamic model of the quadrotor suspended load system is developed, taking into account the impact of the wind field described by the Dryden model. To attenuate the effects of payload variation and wind disturbances on the system, an adaptive control method based on disturbance observers is devised. Additionally, the uniform boundedness of all error signals is demonstrated. The effectiveness of the designed control method is verified through simulations, which serves to strengthen its applicability in practical applications.

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Mathematical Modeling and Control of an Unmanned Aerial System with a Cable Suspended Payload

Cited by 2 publications

References 9 publications

Dynamic responses due to the Dryden gust of an autonomous quadrotor UAV carrying a payload

Dynamic responses due to the Dryden gust of an autonomous quadrotor UAV carrying a payload

Adaptive control of quadrotor suspended load systems with variable payload and wind disturbances

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