As drone technology rapidly advances, quadrotor suspended load systems have emerged as a key area of application. During drone flight, swinging of the payload can induce quadrotor oscillations, potentially leading to crashes. Most of Current studies have simplified the connection between drones and payloads as rigid rods, neglecting the influence of internal forces within the cables. This paper proposes to model the connection cables as an elastic damping system, establishing a dynamic model for quadrotor suspended payload system with an elastic cable (QSPSE). By employing a nonsingular fast terminal sliding mode (NFTSM) control method, a swing angle controller is devised. Without modifying the original controller structure, the swing angle information is integrated as feedback into the position controller to realize swing angle control. Simulation results demonstrate that the proposed controller effectively suppresses payload swinging while achieving position tracking.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Sliding Mode Control of Quadcopter Suspended Payload System with Elastic Cable


    Contributors:
    Ru, Longchao (author) / Guo, Liang (author) / Xue, Songbai (author)


    Publication date :

    2024-10-18


    Size :

    3270079 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Coping with Quadcopter Payload Variation via Adaptive Robust Control

    Kourani, Ahmad / Kassem, Kareem / Daher, Naseem | IEEE | 2018


    A Fuzzy Sliding Mode Control Design for Quadcopter

    Samantaray, Jagannath / Chakrabarty, Sohom | TIBKAT | 2020


    A Fuzzy Sliding Mode Control Design for Quadcopter

    Samantaray, Jagannath / Chakrabarty, Sohom | Springer Verlag | 2020


    Quadcopter with a printable payload extension system and method

    BERTRAND BLAISE / COLIN YOUENN / PATRON ANTHONY et al. | European Patent Office | 2016

    Free access

    QUADCOPTER WITH A PRINTABLE PAYLOAD EXTENSION SYSTEM AND METHOD

    BERTRAND BLAISE / COLIN YOUENN / PATRON ANTHONY et al. | European Patent Office | 2015

    Free access