Title: Modelling and oscillation control of a quadrotor with cable-suspended load

Authors: Raden Muaz Munim; Fazilah Hassan; Mohd Ariffanan Mohd Basri; Zaharuddin Mohamed

Addresses: School of Electrical Engineering, Universiti Teknologi Malaysia, 81310 UTM Johor Bahru, Malaysia ' School of Electrical Engineering, Universiti Teknologi Malaysia, 81310 UTM Johor Bahru, Malaysia ' School of Electrical Engineering, Universiti Teknologi Malaysia, 81310 UTM Johor Bahru, Malaysia ' School of Electrical Engineering, Universiti Teknologi Malaysia, 81310 UTM Johor Bahru, Malaysia

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.

Keywords: quadrotor; cable-suspended load; input shaping; modelling; oscillation control.

DOI: 10.1504/IJMMS.2022.122909

International Journal of Mechatronics and Manufacturing Systems, 2022 Vol.15 No.1, pp.89 - 103

Received: 29 Nov 2021
Accepted: 02 Feb 2022

Published online: 16 May 2022 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article