This work proposes the representation of the high level dynamicmodel of a quadrotor UAVwith a suspended load, through Euler-Lagrange equations. The rotorcraft movement is restricted to the XZ plane of the Cartesian space, so that it performs like a PVTOL machine. A nonlinear controller is proposed to stabilize the quadrotor and the load, during positioning and trajectory tracking tasks. Finally, simulated results are presented in order to validate the proposal.
Modelling and control of a PVTOL quadrotor carrying a suspended load
01.06.2015
395972 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Receding Nash control for quadrotor UAV carrying a cable-suspended payload
British Library Online Contents | 2018
|Springer Verlag | 2005
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