QUADCOPTER CONTROLIN CARGO TRANSPORTATION ON SUSPENSION
A. S. Dimova, K. Yu. Kotov, A. S. Mal’tsev, A. A. Nesterov, M. N. Filippov
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, 630090, Novosibirsk, prosp. Akademika Koptyuga, 1
Keywords: квадрокоптер, управление траекторным движением, транспортировка груза на подвесе, метод структурного синтеза, quadcopter, trajectory control, cargo transportation on suspension, structural synthesis method
Abstract
This paper describes the problem of controlling a quadcopter movement in cargo transportation on suspension. The suspension is a weightless rod pivotally fixed at the quadcopter mass center with a cargo on its end. Equations of motion for a two-dimensional model are obtained using Lagrange equations of the second kind, which serve as a basis for a model revealing the suspension oscillations that destabilize the system. A controller based on the structural synthesis method and including the deflection angle of the rod from the vertical is proposed. The efficiency of the algorithm is confirmed by the numerical simulation results.
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