Title :
Damping control of a quadrotor with swinging load using input shaping method
Author :
Sadr, Sanam ; Moosavian, S.A.A. ; Zarafshan, Payam
Author_Institution :
Mech. Eng. Dept., K.N. Toosi Univ. of Technol., Tehran, Iran
Abstract :
This paper presents the designing and simulation of a swing reducing controller for a quadrotor with a swing load system using an input shaping theory. The input shaping controller is a feed-forward controller that is added to reduce oscillations of the swinging load by improving the damping characteristics of pendulum modes. Simulations are presented and it is shown that a significant improvement of the oscillation behavior can be achieved.
Keywords :
aerospace robotics; aircraft control; control system synthesis; damping; feedforward; helicopters; motion control; damping control; feed-forward controller; input shaping controller; oscillation; pendulum mode; quadrotor; swing load system; swing reducing controller; swinging load; Aerodynamics; Damping; Equations; Load modeling; Mathematical model; Oscillators; Vibrations; Dynamics Modelling; Input Shaping; Nonlinear Control; Quadrotor; Swinging load systems;
Conference_Titel :
Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Conference_Location :
Tehran
DOI :
10.1109/ICRoM.2014.6990905
