Transportation of an Unknown Cable-Suspended Payload by a Quadrotor in Windy Environment under Aerodynamics Effects
| Autor: | Seyed Yaghoub Ashkoofaraz, Mohammad Danesh, Peyman Amiri, Ali Akbar Rezaei Lori, Mohammad Ali Azargoon |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Computer science Payload 020208 electrical & electronic engineering Dynamics (mechanics) 02 engineering and technology Aerodynamics Sliding mode control Wind speed Computer Science::Robotics Attitude control 020901 industrial engineering & automation Wind force Drag Control theory 0202 electrical engineering electronic engineering information engineering |
| Zdroj: | 2021 7th International Conference on Control, Instrumentation and Automation (ICCIA). |
| DOI: | 10.1109/iccia52082.2021.9403559 |
| Popis: | In this article, the aerial load transportation of an unknown slung payload in a windy environment is investigated. First, a full dynamics of the load and quadrotor is derived through the Euler-Lagrange method where the rotational and transitional drag forces are considered. Then, a robust sliding mode control is designed for the transitional movements to cope with both disturbances such as the wind forces and payload swings, and uncertainties such as the length of the cable and the mass of the load. In addition, the PD control method is presented for the quadrotor attitude control. Finally, numerical results show that the appropriate performance of the controllers during the transporting mission despite disturbances. Moreover, the Dryden wind model is utilized to model the real condition of wind velocity. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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