Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration

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...

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Main Authors: Tom Kusznir, Jaroslaw Smoczek
Format: Article
Language:English
Published: Hindawi Limited 2020-01-01
Series:Journal of Control Science and Engineering
Online Access:http://dx.doi.org/10.1155/2020/5058039
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spelling doaj-e687e07279ea49fdb271094cc729c9ea2020-11-24T21:39:51ZengHindawi LimitedJournal of Control Science and Engineering1687-52491687-52572020-01-01202010.1155/2020/50580395058039Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload VibrationTom Kusznir0Jaroslaw Smoczek1AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Krakow 30059, PolandAGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Krakow 30059, PolandThis 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.http://dx.doi.org/10.1155/2020/5058039
collection DOAJ
language English
format Article
sources DOAJ
author Tom Kusznir
Jaroslaw Smoczek
spellingShingle Tom Kusznir
Jaroslaw Smoczek
Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration
Journal of Control Science and Engineering
author_facet Tom Kusznir
Jaroslaw Smoczek
author_sort Tom Kusznir
title Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration
title_short Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration
title_full Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration
title_fullStr Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration
title_full_unstemmed Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration
title_sort sliding mode-based control of a uav quadrotor for suppressing the cable-suspended payload vibration
publisher Hindawi Limited
series Journal of Control Science and Engineering
issn 1687-5249
1687-5257
publishDate 2020-01-01
description 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.
url http://dx.doi.org/10.1155/2020/5058039
work_keys_str_mv AT tomkusznir slidingmodebasedcontrolofauavquadrotorforsuppressingthecablesuspendedpayloadvibration
AT jaroslawsmoczek slidingmodebasedcontrolofauavquadrotorforsuppressingthecablesuspendedpayloadvibration
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