Vibration Elimination for Quadrotor Slung System Based on Input Shaping and Double Closed-loop Control

被引：0

作者：

Huo, Xin ^{[1
]}

Chen, Jinyu ^{[2
]}

Liu, Qingquan ^{[1
]}

He, Xin ^{[3
]}

机构：

[1] Harbin Inst Technol, Control & Simulat Ctr, Harbin 150080, Heilongjiang, Peoples R China

[2] Univ Tokyo, Dept Frontier Sci, Kashiwanoha 5-1-5, Kashiwa, Chiba, Japan

[3] Harbin Normal Univ, Dept Math, Harbin 150025, Heilongjiang, Peoples R China

来源：

2019 12TH ASIAN CONTROL CONFERENCE (ASCC) | 2019年

基金：

中国国家自然科学基金;

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Undesirable residual vibration in dynamical system always causes many problems in logistic industries. For instance, a quadrotor is now considered to be used to deliver cargos instead of road transportation. However, the swing of cargos during the transportation process always causes threat to its safety and stability. In this paper, the mathematical model of a quadrotor slung system is established, and a double closed-loop control strategy is proposed, together with an input shaping design, to reduce the swing angle of load and keep quadrotor stable simultaneously in the presence of system uncertainties. Some numerical simulations are presented and the results verify the effectiveness of the proposed method.

引用

页码：492 / 497

页数：6

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