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dc.contributor.authorCorona Sanchez, Jose Juan
dc.contributor.authorKristiansen, Raymond
dc.contributor.authorAndersen, Tom Stian
dc.date.accessioned2021-12-06T11:41:13Z
dc.date.available2021-12-06T11:41:13Z
dc.date.issued2021-06
dc.description.abstractThis 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.en_US
dc.identifier.citationCorona-S. J.J., Kristiansen, R. & andersen, T.S. (2021). Path planning and reactive based control for a quadrotor with a suspended load. <i>2021 International Conference on Unmanned Aircraft Systems (ICUAS)</i>, 20902149. DOI: 10.1109/ICUAS51884.2021.9476726en_US
dc.identifier.cristinIDFRIDAID 1964239
dc.identifier.doi10.1109/ICUAS51884.2021.9476726
dc.identifier.urihttps://hdl.handle.net/10037/23289
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.rights.accessRightsopenAccessen_US
dc.rights.holderCopyright 2021 The Author(s)en_US
dc.subjectVDP::Technology: 500::Electrotechnical disciplines: 540en_US
dc.subjectVDP::Teknologi: 500::Elektrotekniske fag: 540en_US
dc.titlePath planning and reactive based control for a quadrotor with a suspended loaden_US
dc.type.versionacceptedVersionen_US
dc.typeConference objecten_US
dc.typeKonferansebidragen_US


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