Title :
IDA-PBC methodology for a quadrotor UAV transporting a cable-suspended payload
Author :
Guerrero, M.E. ; Mercado, D.A. ; Lozano, R. ; Garcia, C.D.
Author_Institution :
Dept. of Electron. Eng., CENIDET, Mexico
Abstract :
This paper presents results on the modeling and control for an Unmanned Aerial Vehicle (UAV) kind quadrotor transporting a cable-suspended payload. The mathematical model is based on Euler-Lagrange formulation, where the integrated dynamics of the quadrotor, cable and payload are considered. An Interconnection and Damping Assignment Passivity - Based Control (IDA-PBC) for a quadrotor UAV transporting a cable-suspended payload is designed. The control objective is to transport the payload from point to point transfer with swing suppression along trajectory. The cable is considered rigid. Numerical simulations are carried out to validate the overall control approach.
Keywords :
autonomous aerial vehicles; cables (mechanical); damping; helicopters; numerical analysis; vehicle dynamics; Euler-Lagrange formulation; IDA-PBC methodology; UAV kind quadrotor; cable-suspended payload; integrated dynamics; interconnection and damping assignment passivity-based control; mathematical model; numerical simulation; point to point transfer; quadrotor UAV; swing suppression; unmanned aerial vehicle; Damping; Mathematical model; Numerical models; Payloads; Potential energy; Symmetric matrices; Unmanned aerial vehicles;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
Conference_Location :
Denver, CO
Print_ISBN :
978-1-4799-6009-5
DOI :
10.1109/ICUAS.2015.7152325
