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
  • [21] OFFSET CONTROL STRATEGY FOR THE SPACE STATION BASED TETHERED PAYLOAD
    MODI, VJ
    LAKSHMANAN, PK
    MISRA, AK
    JOURNAL OF THE ASTRONAUTICAL SCIENCES, 1991, 39 (02): : 205 - 232
  • [22] Nonlinear Motion Control for a Quadrotor Transporting a Cable-Suspended Payload
    Lv, Zong-Yang
    Wu, Yuhu
    Rui, Wang
    IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2020, 69 (08) : 8192 - 8206
  • [23] Neuro sliding mode control of quadrotor UAVs carrying suspended payload
    Bingol, O.
    Guzey, H. M.
    ADVANCED ROBOTICS, 2021, 35 (3-4) : 255 - 266
  • [24] Payload dropping control of an unmanned quadrotor helicopter based on backstepping controller
    Qiao, Jing
    Liu, Zhixiang
    Zhang, Youmin
    2018 INTERNATIONAL JOINT CONFERENCE ON METALLURGICAL AND MATERIALS ENGINEERING (JCMME 2018), 2019, 277
  • [25] Exponential Regulation Control of a Quadrotor Unmanned Aerial Vehicle With a Suspended Payload
    Yang, Sen
    Xian, Bin
    IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2020, 28 (06) : 2762 - 2769
  • [26] Trajectory Tracking Control Design for the System of a Quadrotor UAV With a Suspended Payload
    Yang, Sen
    Man, Bin
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 777 - 782
  • [27] Adaptive Robust Control of Quadrotor Helicopter towards Payload Transportation Applications
    Wang, Ban
    Mu, Lingxia
    Zhang, Youmin
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 4774 - 4779
  • [28] Trajectory Planning of Quadrotor UAV with Suspended Payload Based on Predictive Control
    Sun, Binghan
    Hu, Chaofang
    Cao, Lei
    Wang, Na
    Zhou, Yimin
    2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 10049 - 10054
  • [29] Energy-Based Control and LMI-Based Control for a Quadrotor Transporting a Payload
    Guerrero-Sanchez, Maria-Eusebia
    Hernandez-Gonzalez, Omar
    Lozano, Rogelio
    Garcia-Beltran, Carlos-D
    Valencia-Palomo, Guillermo
    Lopez-Estrada, Francisco-R
    MATHEMATICS, 2019, 7 (11)
  • [30] Robust Control Study for Tethered Payload Transportation Using Multiple Quadrotors
    Qian L.
    Liu H.H.T.
    Journal of Guidance, Control, and Dynamics, 2022, 45 (03) : 434 - 452
12345