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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    Title :

    Modelling and control of a PVTOL quadrotor carrying a suspended load




    Publication date :

    2015-06-01


    Size :

    395972 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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