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Path planning and reactive based control for a quadrotor with a suspended load

Permanent lenke
https://hdl.handle.net/10037/23289
DOI
https://doi.org/10.1109/ICUAS51884.2021.9476726
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article.pdf (1.729Mb)
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Dato
2021-06
Type
Conference object
Konferansebidrag

Forfatter
Corona Sanchez, Jose Juan; Kristiansen, Raymond; Andersen, Tom Stian
Sammendrag
This paper presents a solution to quadrotor cargo transportation, more precisely when cargo is suspended as a sling load. The challenge lies in payload position control and swing attenuation, which we approach by dividing the model into subsystems: attitude quadrotor in free flight, and translational and attitude load dynamics. We propose a solution based on reactive control, in the sense that we utilize a reactive force that reacts to the error position and the oscillation in the load. Asymptotic stability of the system's closed-loop equilibrium is proved using Lyapunov theory. Additionally, a three-dimensional path planning algorithm is proposed based on cubic splines, which give us a natural path between initial and final desired points. Moreover, we convert the path planning problem into trajectory tracking with a spline's correct parametrization. Control and path planning performance are demonstrated with numerical simulations in three different scenarios.
Forlag
IEEE
Sitering
Corona-S. J.J., Kristiansen, R. & andersen, T.S. (2021). Path planning and reactive based control for a quadrotor with a suspended load. 2021 International Conference on Unmanned Aircraft Systems (ICUAS), 20902149. DOI: 10.1109/ICUAS51884.2021.9476726
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  • Artikler, rapporter og annet (elektroteknologi) [127]
Copyright 2021 The Author(s)

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