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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Bibliographic Details
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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