{"title":"悬载无人机输入整形解决方案:初步结果","authors":"P. Homolka, M. Hromčík, T. Vyhlídal","doi":"10.1109/PC.2017.7976184","DOIUrl":null,"url":null,"abstract":"In this paper our first achievements are reported on application of input command shapers for control of quadcopters with suspended load. Simulation results are presented for a free 2DoF quadcopter. The flight control system, consisting of two PID controllers and of a static nonlinearity mapping the propellers thrusts to particular degrees of freedom, is augmented by input shapers in the feedforward path. Properties of the resulting control law are presented and further research proposals are elaborated.","PeriodicalId":377619,"journal":{"name":"2017 21st International Conference on Process Control (PC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Input shaping solutions for drones with suspended load: First results\",\"authors\":\"P. Homolka, M. Hromčík, T. Vyhlídal\",\"doi\":\"10.1109/PC.2017.7976184\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper our first achievements are reported on application of input command shapers for control of quadcopters with suspended load. Simulation results are presented for a free 2DoF quadcopter. The flight control system, consisting of two PID controllers and of a static nonlinearity mapping the propellers thrusts to particular degrees of freedom, is augmented by input shapers in the feedforward path. Properties of the resulting control law are presented and further research proposals are elaborated.\",\"PeriodicalId\":377619,\"journal\":{\"name\":\"2017 21st International Conference on Process Control (PC)\",\"volume\":\"35 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-06-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 21st International Conference on Process Control (PC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/PC.2017.7976184\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 21st International Conference on Process Control (PC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/PC.2017.7976184","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Input shaping solutions for drones with suspended load: First results
In this paper our first achievements are reported on application of input command shapers for control of quadcopters with suspended load. Simulation results are presented for a free 2DoF quadcopter. The flight control system, consisting of two PID controllers and of a static nonlinearity mapping the propellers thrusts to particular degrees of freedom, is augmented by input shapers in the feedforward path. Properties of the resulting control law are presented and further research proposals are elaborated.
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