DocumentCode
1773042
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
fYear
2014
fDate
15-17 Oct. 2014
Firstpage
227
Lastpage
232
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Conference_Location
Tehran
Type
conf
DOI
10.1109/ICRoM.2014.6990905
Filename
6990905
Link To Document