Modeling and Control of Quadrotor with Tethered Payload

被引：0
|
作者：
Liu, Zhiping [1 ]
机构：
[1] Xian Technol Univ, Coll Comp Sci & Engn, Xian 710021, Shaanxi, Peoples R China
来源：
2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2017年
关键词：
Quadrotor; Flight control; Simulation; Tethered Payload;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the modeling and control of a quadrotor unmanned aerial vehicle (UAV) with a payload that is connected through a flexible rope. The calculation of the tension force and induced moments are derived, and position tracking and attitude control law were proposed based on some assumption. The simulation architecture was structured under the MATLAB environment, simulation results were analyzed and future research work were proposed finally.
引用
收藏
页码：5041 / 5045
页数：5
相关论文
共 50 条
  • [1] Modeling and PID Control of Tethered Unmanned Quadrotor Helicopter
    Li Yibo
    Xie Qiling
    Han Jianda
    PROCEEDINGS 2013 INTERNATIONAL CONFERENCE ON MECHATRONIC SCIENCES, ELECTRIC ENGINEERING AND COMPUTER (MEC), 2013, : 258 - 262
  • [2] Robust Control for a Quadrotor Transporting a Payload
    Guerrero-Sanchez, Maria-Eusebia
    Hernandez-Gonzalez, Omar
    Guerrero-Sanchez, Maria-Elizabeth
    Zamudio-Radilla, Antonia
    Ruiz-Sanchez, Juan-Felipe
    2019 IEEE CHILEAN CONFERENCE ON ELECTRICAL, ELECTRONICS ENGINEERING, INFORMATION AND COMMUNICATION TECHNOLOGIES (CHILECON), 2019,
  • [3] Quadrotor Control in Payload Transportation on Suspension
    Dimova, A. S.
    Kotov, K. Yu.
    Mal'tsev, A. S.
    Nesterov, A. A.
    Filippov, M. N.
    OPTOELECTRONICS INSTRUMENTATION AND DATA PROCESSING, 2018, 54 (05) : 520 - 524
  • [4] Dynamics and Control of A Quadrotor with A Cable Suspended Payload
    Qian, Longhao
    Liu, Hugh H. T.
    2017 IEEE 30TH CANADIAN CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING (CCECE), 2017,
  • [5] Robustness of PD Control for Transporting Quadrotor with Payload Uncertainties
    Pratama, Gilang Nugraha Putu
    Masngut, Ibnu
    Cahyadi, Adha Imam
    Herdjunanto, Samiadji
    2017 3RD INTERNATIONAL CONFERENCE ON SCIENCE AND TECHNOLOGY - COMPUTER (ICST), 2017, : 11 - 15
  • [6] Robust control design for the quadrotor UAV with a suspended payload
    Yang, Sen
    Xian, Bin
    2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER), 2018, : 469 - 473
  • [7] Modeling, Robust Control Design, and Experimental Verification for Quadrotor Carrying Cable-Suspended Payload
    Zhu, Yang
    Zheng, Zhiyuan
    Shao, Jinliang
    Huang, Hailong
    Zheng, Wei Xing
    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2025, 22 : 6061 - 6075
  • [8] Acceleration-based Control of a Quadrotor with a Swinging Payload
    Taylor, Cameron C.
    Engelbrecht, Jacobus A. A.
    2016 PATTERN RECOGNITION ASSOCIATION OF SOUTH AFRICA AND ROBOTICS AND MECHATRONICS INTERNATIONAL CONFERENCE (PRASA-ROBMECH), 2016,
  • [9] Tethered flight control of a small quadrotor robot for stippling
    Galea, Brendan
    Kry, Paul G.
    2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2017, : 1713 - 1718
  • [10] Model Reference Adaptive Control of a Quadrotor Considering the Uncertainty of Payload
    Lee, Dongwoo
    Jang, Kwangwoo
    Lee, Seongheon
    Bang, Hyochoong
    JOURNAL OF THE KOREAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, 2021, 49 (09) : 749 - 757
12345