Dynamic Inversion Control of Quadrotor with a Suspended Load

被引：21

作者：

Das, Hemjyoti ^{[1
]}

机构：

[1] Natl Inst Technol, Dept Elect Engn, Silchar, India

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 01期

关键词：

Quadrotor; Nonlinear Dynamic Inversion; Newton-Euler Equation; UAV-Load system;

D O I：

10.1016/j.ifacol.2018.05.030

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, I have tackled the problem of a quadrotor with a suspended load using nonlinear dynamic inversion method. The main purpose of this paper is to present a new dynamics of the UAV-load system using Newton's law. I applied dynamic inversion control for directing the UAV to the desired coordinates and simultaneously minimizing the sway angle of the suspended mass. I have carried the entire simulation in the inertial frame. My approach is to use an outer loop controller for maintaining the position and an inner loop controller for the desired roll, pitch and yaw rate. I have performed the simulations on MATLAB. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：172 / 177

页数：6

共 14 条

[11]

Prabhakaran B., 2015, 2015 IEEE Workshop on Computational Intelligence: Theories, Applications and Future Directions, P1, DOI DOI 10.1109/WCI.2015.7495504

[12]

Santos M., 2010, Proceedings 2010 IEEE International Conference on Intelligent Systems and Knowledge Engineering (ISKE 2010), P141, DOI 10.1109/ISKE.2010.5680812

[13] Neuro-adaptive Augmented Dynamic Inversion Controller for Quadrotors [J].

Shastry, Abhishek Kumar ;

Pattanaik, Anay ;

Kothari, Mangal .

IFAC PAPERSONLINE, 2016, 49 (01) :302-307

[14]

Sreenath K, 2013, IEEE INT CONF ROBOT, P4888, DOI 10.1109/ICRA.2013.6631275

← 1 2 →