The quadrotor transportation system has attracted numerous attention on different occasions due to its broad adaptability. Nevertheless, the “double” underactuated property of the system brings various challenges in practical control, which is caused by the underactuation of the quadrotor and that the suspended payload cannot be controller directly. In addition, most existing methods are designed based on the hypothesis of neglecting the hook’s motion. In fact, the quadrotors translation will also cause the hook’s relative motion with respect to the payload. In this paper, a trajectory generation method for the precise positioning of the quadrotor and the suppression of the double-pendulum swing motion is proposed. By injecting the artificially constructed swing elimination term into the basic positioning reference trajectory, a novel anti-swing trajectory is designed. Lyapunov based stability analysis is provided to prove the performance of the trajectory. Simulation results are concluded to validate the effectiveness of the planning scheme.
Anti-Swing Trajectory Planning for Quadrotor Transportation Systems with Double-Pendulum Swing Effects
Lect. Notes Electrical Eng.
The International Conference on Applied Nonlinear Dynamics, Vibration and Control ; 2021 ; Hong Kong August 23, 2021 - August 25, 2021
Advances in Applied Nonlinear Dynamics, Vibration and Control -2021 ; Kapitel : 65 ; 875-887
24.09.2021
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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