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.


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    Titel :

    Modelling and control of a PVTOL quadrotor carrying a suspended load




    Erscheinungsdatum :

    2015-06-01


    Format / Umfang :

    395972 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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    Modeling and Control of Quadrotor Formations Carrying a Slung Load

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    Nested Saturation Control for Stabilizing the PVTOL Aircraft

    Fantoni, Isabelle / Palomino, Amparo | Wiley | 2013