In this paper, a trajectory generation strategy that is conducive to quadrotor and load stability are presented for a quadrotor unmanned aerial vehicle (UAV) with cable suspended load. First, the Euler-Lagrange formulation is used to obtain the dynamic model of the system, where the integrated dynamics of the quadrotor and cable suspended load are considered. Second, the differential flatness is used to generate trajectory that is conducive to quadrotor and load stability. Finally, the system is divided into two parts: a full-drive part and an under-actuation part, and a sliding mode controller is designed to restrain the attitude change caused by the swing of the load. Numerical simulation results using quadrotor and load attitude change are shown to evaluate the proposed control law.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Trajectory Generation Method for Quadrotor and Cable Suspended Load Stability


    Beteiligte:
    Zhang, Hua (Autor:in) / Wu, Jie (Autor:in) / Dong, Mianmian (Autor:in) / An, Weize (Autor:in) / Zhou, Yuhang (Autor:in)


    Erscheinungsdatum :

    01.09.2021


    Format / Umfang :

    5752239 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Fixed-Time Control for a Quadrotor With a Cable-Suspended Load

    Lv, Zongyang / Wu, Yuhu / Sun, Xi-Ming et al. | IEEE | 2022


    Control Architecture for a Quadrotor Transporting a Cable-Suspended Load of Uncertain Mass

    Pedro Outeiro / Carlos Cardeira / Paulo Oliveira | DOAJ | 2023

    Freier Zugriff

    Robust Control of a Quadrotor UAV with Cable-Suspended Load for Safe Transport and Delivery Applications

    Díaz-Téllez, J. / Mendoza-Vázquez, J. R. / Rojas-Cuevas, I. D. et al. | Springer Verlag | 2024


    Receding Nash control for quadrotor UAV carrying a cable-suspended payload

    Guo, Minhuan / Su, Yan / Zhu, Xinhua | British Library Online Contents | 2018