DocumentCode
720475
Title
Modelling and control of a PVTOL quadrotor carrying a suspended load
Author
Beloti Pizetta, Igor Henrique ; Santos Brandao, Alexandre ; Sarcinelli-Filho, Mario
Author_Institution
Dept. of Mech., Fed. Inst. of Espirito Santo, Aracruz, Brazil
fYear
2015
fDate
9-12 June 2015
Firstpage
444
Lastpage
450
Abstract
This work proposes the representation of the high level dynamic model of a quadrotor UAV with a suspended load, through Euler-Lagrange equations. The rotorcraft movement is restricted to the XZ plane of the Cartesian space, so that it performs like a PVTOL machine. A nonlinear controller is proposed to stabilize the quadrotor and the load, during positioning and trajectory tracking tasks. Finally, simulated results are presented in order to validate the proposal.
Keywords
autonomous aerial vehicles; helicopters; nonlinear control systems; trajectory control; vehicle dynamics; Cartesian space; Euler-Lagrange equations; PVTOL machine; PVTOL quadrotor; XZ plane; high level dynamic model; nonlinear controller; quadrotor UAV; rotorcraft movement; suspended load; trajectory tracking tasks; Aircraft; Atmospheric modeling; Dynamics; Load modeling; Mathematical model; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
Conference_Location
Denver, CO
Print_ISBN
978-1-4799-6009-5
Type
conf
DOI
10.1109/ICUAS.2015.7152321
Filename
7152321
Link To Document