When a quadrotor UAV (unmanned aerial vehicle) transports a large cargo, the payload tends to rotate and swing significantly. However, to simplify control, the payload is often modeled as a point mass. To more accurately describe the quadrotor suspended-payload system, analyzing and considering the payload's rotation and swing can improve control performance. This study employs a rigid payload and establishes a dynamic model for the system. A controller based on energy principles is proposed, which can asymptotically regulate both the position of the quadrotor UAV and the swing angles of the payload. A Lyapunov-based stability analysis is included to prove the stability of the system. Simulation results demonstrate that the proposed controller performs well and validate the feasibility and effectiveness of the dynamic model.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Nonlinear Control Design for the Quadrotor UAV with a Suspended Rigid Payload


    Beteiligte:
    Du, Jie (Autor:in) / Yang, Sen (Autor:in) / Tong, Jigang (Autor:in) / Xie, Tian (Autor:in) / Hao, Wei (Autor:in)


    Erscheinungsdatum :

    16.05.2025


    Format / Umfang :

    748499 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Dynamics and Modeling of a Quadrotor with a Suspended Payload

    Johnson, Nicholas A. / Singhose, William | AIAA | 2018


    Receding Nash control for quadrotor UAV carrying a cable-suspended payload

    Guo, Minhuan / Su, Yan / Zhu, Xinhua | British Library Online Contents | 2018



    Experiments on Collaborative Transport of Cable-suspended Payload with Quadrotor UAVs

    Bulka, Eitan / He, Chang / Wehbeh, Jad et al. | IEEE | 2022