The research of a quadrotor delivering hanged payload is meaningful in many applications, but it's also a very challenging task because the payload will significantly change the dynamics of the quadrotor. Since the states of payload is hard to measure and the mass may change, the control strategy depending on precise models may not work. Thus, we propose the Active Disturbance Rejection Control strategy in this case. Using the Extended State Observer, we can estimate the disturbance in the quadrotor plant, which is caused by the dynamics of payload. By counteracting the disturbance in the system, we can achieve favorable performance of the quadrotor even the payload swing is introduced for experimental validation artificially.


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    Title :

    ADRC methodology for a quadrotor UAV transporting hanged payload


    Contributors:
    Wang, Hongda (author) / Huang, Yongbin (author) / Xu, Chao (author)


    Publication date :

    2016-08-01


    Size :

    696033 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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