The application of rotorcraft to autonomous load carrying and transport is a new frontier for Unmanned Aerial Vehicles (UAVs). This task requires that hovering vehicles remain stable and balanced in flight as payload mass is added to the vehicle. If payload is not loaded centered or the vehicle properly trimmed for offset loads, the robot will experience bias forces that must be rejected. In this paper, we explore the effect of dynamic load disturbances introduced by instantaneously increased payload mass and how those affect helicopters and quadrotors under Proportional-Integral-Derivative flight control. We determine stability bounds within which the changing mass-inertia parameters of the system due to the acquired object will not destabilize these aircraft with this standard flight controller. Additionally, we demonstrate experimentally the stability behavior of a helicopter undergoing a range of instantaneous step payload changes.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Stability of small-scale UAV helicopters and quadrotors with added payload mass control


    Contributors:

    Published in:

    Autonomous Robots ; 33 , 1/2 ; 129-142


    Publication date :

    2012


    Size :

    14 Seiten, 18 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    Rod-shaped payload transportation using multiple quadrotors

    Villa, Daniel Khede Dourado / Brandao, Alexandre Santos / Sarcinelli-Filho, Mario | IEEE | 2019




    Transportation of Payload Using Multiple Quadrotors via Rigid Connection

    Ti Chen / Jinjun Shan / Hugh H. T. Liu | DOAJ | 2022

    Free access