Modelling and oscillation control of a quadrotor with cable-suspended load
by Raden Muaz Munim; Fazilah Hassan; Mohd Ariffanan Mohd Basri; Zaharuddin Mohamed
International Journal of Mechatronics and Manufacturing Systems (IJMMS), Vol. 15, No. 1, 2022

Abstract: A quadrotor with cable-suspended load is a type of aerial transport vehicle to carry a payload attached with a cable to underside of the quadrotor. It has potential applications requiring transporting goods quickly, such as search-and-rescue and logistics. One important requirement is that the controller should be able to safely move the quadrotor and suppress excessive load swing which can be dangerous. This work presents a modelling of this system and a PID position controller with feedforward input shaping to suppress load swing. The model is formulated with Euler-Lagrange equations. This model assumes offset between quadrotor centre-of-mass and suspension point of the cable, as such is able to capture double-pendulum-like behaviour of the real system. Simulations are done to validate the model and controller to suppress the load, swing and its robustness to varying percentages of modelling errors.

Online publication date: Mon, 16-May-2022

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