Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration
This paper addresses the problem of damping vibrations of a cable-suspended payload during positioning of the quadrotor. A nonlinear model is derived for the coupled quadrotor-pendulum system in the X-Z plane using Euler–Lagrange formulation. Sliding mode control (SMC) is used for horizontal positio...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2020-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/5058039 |
| Summary: | This paper addresses the problem of damping vibrations of a cable-suspended payload during positioning of the quadrotor. A nonlinear model is derived for the coupled quadrotor-pendulum system in the X-Z plane using Euler–Lagrange formulation. Sliding mode control (SMC) is used for horizontal positioning and payload vibration damping, while a feedback linearizing controller is used for both altitude and attitude control. The SMC surface parameters are determined by placing the eigenvalues of the linearized system at a desired position. The simulation results show the effectiveness of the proposed control method in minimizing payload vibration by comparing it with a partial feedback linearizing controller and a ZVDD input shaper. |
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| ISSN: | 1687-5249 1687-5257 |