Quadrotor Control in Payload Transportation on Suspension
| Autor: | A. S. Mal’tsev, A. A. Nesterov, A. S. Dimova, M. N. Filippov, K. Yu. Kotov |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Payload Computer science Equations of motion 02 engineering and technology Condensed Matter Physics 01 natural sciences Trajectory control Deflection angle Computer Science::Robotics Condensed Matter::Soft Condensed Matter 010309 optics 020901 industrial engineering & automation Mass center Control theory 0103 physical sciences Electrical and Electronic Engineering Suspension (vehicle) Instrumentation |
| Zdroj: | Optoelectronics, Instrumentation and Data Processing. 54:520-524 |
| ISSN: | 1934-7944 8756-6990 |
| Popis: | This paper describes the problem of controlling a quadrotor motion in payload transportation on suspension. The suspension is a weightless rod pivotally fixed at the quadrotor mass center with a payload on its end. Equations of motion for a two-dimensional model are obtained using Lagrange equations of the second kind, which serve as a basis for a model revealing the suspension oscillations that destabilize the system. We proposed a controller based on the structural synthesis method and including the deflection angle of the rod from the vertical. The efficiency of the algorithm is confirmed by the simulation results. |
| Databáze: | OpenAIRE |
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