High-order Fully-actuated Controller Design for a Dual-Quadrotor Suspension System

被引：0
|
作者：
Jiang, Zhipeng [1 ]
Li, Xianwei [1 ,2 ,3 ]
机构：
[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
[2] Minist Educ China, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China
[3] Shanghai Engn Res Ctr Intelligent Control & Manag, Shanghai 200240, Peoples R China
来源：
2024 3RD CONFERENCE ON FULLY ACTUATED SYSTEM THEORY AND APPLICATIONS, FASTA 2024 | 2024年
基金：
中国国家自然科学基金; 上海市自然科学基金;
关键词：
Dual quadrotors; suspension systems; high-order fully-actuated (HOFA) method;
D O I：
10.1109/FASTA61401.2024.10595138
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the mathematical model of dual-quadrotor suspension system is established, and the high-order fully-actuated (HOFA) model of the system is derived. Then the direct parametric control method of HOFA nonlinear systems is used to design a controller of the dual-quadrotor suspension system. Simulation results about tracking a circle of the suspension system are presented, which show that HOFA controller have good control effects with relatively smaller tracking errors, while the thrusts of the two quadrotors are within a reasonable range. Compared with a benchmark PD controller in [1], the HOFA controller designed in this paper can mitigate the drastic oscillation in positions of the quadrotor and the load, while the fluctuation of the load attitudes are maintained within a reasonable range.
引用
收藏
页码：1568 / 1573
页数：6
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