Recent advances and challenges in controlling quadrotors with suspended loads

被引:11
作者
Omar, Hanafy M. [1 ]
Akram, Rizwan [2 ]
Mukras, Saad M. S. [1 ]
Mahvouz, Ahmed Alaa [2 ]
机构
[1] Qassim Univ, Coll Engn, Dept Mech Engn, Buraydah, Saudi Arabia
[2] Qassim Univ, Coll Engn, Dept Elect Engn, Buraydah, Saudi Arabia
关键词
Quadrotor; Multirotor; Anti; -swing; Suspended load; Flight controller; TRAJECTORY GENERATION; NONLINEAR CONTROL; SYSTEM; TRANSPORTATION; CRANE; UAV; MULTIROTOR; FEEDBACK; VISION; DESIGN;
D O I
10.1016/j.aej.2022.08.001
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
Quadrotors have been utilized in a variety of applications where the payload needs to be transferred from one location to another, such as in mine detection, load delivery through haz-ardous environments, or locations that are inaccessible to ground vehicles. In these applications, the payload will be suspended underneath the vehicle and is subjected to large oscillations due to external disturbances or the acceleration of the vehicle itself. In this article, the most recent advance-ments in controlling the quadrotors vehicles with suspended loads are presented including control algorithms and techniques to implement these controllers. These techniques include the hardware and sensors besides the testing techniques for the developed control algorithms.(c) 2022 THE AUTHORS. Published by Elsevier BV on behalf of Faculty of Engineering, Alexandria University. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/ licenses/by-nc-nd/4.0/).
引用
收藏
页码:253 / 270
页数:18
相关论文
共 183 条