Dynamics Modeling and Control of a Quadrotor with Swing Load
Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2014/265897 |
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| author | S. Sadr S. Ali A. Moosavian P. Zarafshan |
| author_facet | S. Sadr S. Ali A. Moosavian P. Zarafshan |
| author_sort | S. Sadr |
| collection | DOAJ |
| description | Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in order to control the position and attitude of the quadrotor. The performance of this proposed controller is evaluated by nonlinear simulations and, finally, the results demonstrate the effectiveness of the control strategy for the quadrotor with suspended load in various maneuvers. |
| format | Article |
| id | doaj-art-c9cfd65b2c794ae7b50a8e232b113e86 |
| institution | DOAJ |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-c9cfd65b2c794ae7b50a8e232b113e862025-08-20T03:23:57ZengWileyJournal of Robotics1687-96001687-96192014-01-01201410.1155/2014/265897265897Dynamics Modeling and Control of a Quadrotor with Swing LoadS. Sadr0S. Ali A. Moosavian1P. Zarafshan2Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran 19991 43344, IranCenter of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran 19991 43344, IranDepartment of Agro-Technology, College of Aburaihan, University of Tehran, Pakdasht, Tehran 11365/4117, IranNowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in order to control the position and attitude of the quadrotor. The performance of this proposed controller is evaluated by nonlinear simulations and, finally, the results demonstrate the effectiveness of the control strategy for the quadrotor with suspended load in various maneuvers.http://dx.doi.org/10.1155/2014/265897 |
| spellingShingle | S. Sadr S. Ali A. Moosavian P. Zarafshan Dynamics Modeling and Control of a Quadrotor with Swing Load Journal of Robotics |
| title | Dynamics Modeling and Control of a Quadrotor with Swing Load |
| title_full | Dynamics Modeling and Control of a Quadrotor with Swing Load |
| title_fullStr | Dynamics Modeling and Control of a Quadrotor with Swing Load |
| title_full_unstemmed | Dynamics Modeling and Control of a Quadrotor with Swing Load |
| title_short | Dynamics Modeling and Control of a Quadrotor with Swing Load |
| title_sort | dynamics modeling and control of a quadrotor with swing load |
| url | http://dx.doi.org/10.1155/2014/265897 |
| work_keys_str_mv | AT ssadr dynamicsmodelingandcontrolofaquadrotorwithswingload AT saliamoosavian dynamicsmodelingandcontrolofaquadrotorwithswingload AT pzarafshan dynamicsmodelingandcontrolofaquadrotorwithswingload |