建模和控制的四旋翼承载悬浮载荷

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2015-11-01 DOI:10.1109/RED-UAS.2015.7441014

Igor Henrique Beloti Pizetta, Alexandre Santos Brandão, M. Sarcinelli-Filho

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引用次数: 7

摘要

本文提出了一种具有悬载的四旋翼无人机在三维空间中的高级动力学模型。利用欧拉-拉格朗日方程，提出了一种基于部分反馈线性化的非线性控制器，用于指导四旋翼飞行器进行定位和轨迹跟踪任务。控制器负责稳定飞行器，并在飞行机动过程中抑制由负载引起的干扰。利用AuRoRA平台的仿真结果验证了该方案的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modelling and control of a quadrotor carrying a suspended load

This work proposes a high level dynamic model of a quadrotor UAV with a suspended load in the three dimensional space. Euler Lagrange equations are applied, and a nonlinear controller, based on partial feedback linearization, is proposed and used to guide the quadrotor in positioning and trajectory tracking tasks. The controller is responsible for stabilizing the vehicle and for rejecting the disturbance caused by the load during the flight maneuvers. The proposal is validated by simulation results obtained using the AuRoRA platform.

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来源期刊

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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