Vibration control of unmanned aerial vehicle with suspended load using the concept of differential flatness
| Autor: | Rei Yoshinaga, Oladapo Ogunbodede, Tarunraj Singh |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Quadcopter Computer science Magnetometer Pendulum Vibration control 02 engineering and technology Swing law.invention Magnetic field Vibration 020901 industrial engineering & automation law Control theory Input shaping 0202 electrical engineering electronic engineering information engineering Trajectory 020201 artificial intelligence & image processing Suspended load |
| Zdroj: | ACC |
| Popis: | There are various scenarios where Unmanned Aerial Vehicles are required to carry suspended loads. The most common of these scenarios include; military deployments, tree logging, fire fighting, package delivery, sensor survey (e.g. Magnetometer survey of the earth's magnetic field) and aerial side trimming. This work is aimed at obtaining a rest to rest trajectory for a UAV suspended load such that the load vibration is minimized. The 2D-model of the Quadcopter is used. The result from differential flatness is compared with that obtained from a closed loop control with input shaping. Based on the integral of the absolute value of the α swing rate of the pendulum, the three methods are compared and inferences are drawn. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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