An internal model frame-based disturbance attenuation control scheme for quad-rotors transporting unknown payloads

Li, Hongda; Wang, Yuan; Shi, Zhiwei; Chang, Min

doi:10.1177/0142331219842323

Cited by 10 publications

(5 citation statements)

References 23 publications

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“…Finally, by using u x , u y and commanding desired yaw angle ψ d , the algorithm from reference paths to desired Euler angles can be solved [31], shown as

({, \begin{matrix} array ϕ_{d} = \arcsin (u_{x} s_{ψ} - u_{y} c_{ψ}) \\ array θ_{d} = \arcsin (\frac{u_{x} c_{ψ} + u_{y} s_{ψ}}{c_{ϕ}}) \\ array ψ_{d} = command value \end{matrix}) .

…”

Section: Qspsv Control Scheme and Trajectory Planningmentioning

confidence: 99%

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Anti‐swing control and trajectory planning of quadrotor suspended payload system with variable length cable

Yang

Zhang

et al. 2021

Asian Journal of Control

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Different from the quadrotor suspended payload system with fixed length cable, the system with variable length cable can load and unload cargoes more efficiently under many conditions. This paper presents a method of modeling, control, and trajectory planning for a quadrotor suspended payload system with variable length cable. In order to effectively reduce the swing of the slung payload under the quadrotor, a coupled dynamic model and an integral backstepping control scheme for the system are designed, and a basic trajectory planning is carried out. The presented coupled dynamic model is composed of two parts, one is the dynamic equation of the quadrotor with payload pull, and the other is the dynamic model of the payload pendulum angles with variable length cable related with quadrotor flight acceleration. Meanwhile, the interaction forces between them are calculated. Based on the coupled dynamic model of the system, a cascade control scheme with trajectory planning is designed. The attitude and position control loop of the system adopt the integral backstepping algorithm to solve the reliable flight of quadrotor with slung payload. At the same time, the flight trajectories are generated by trajectory planning as the reference input of the control system, which can further reduce the payload swing. Simulation results show that the proposed scheme can realize stable and reliable flight of the quadrotor and limit the pendulum angles within the desired range to reduce the payload swing.

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“…Finally, by using u x , u y and commanding desired yaw angle ψ d , the algorithm from reference paths to desired Euler angles can be solved [31], shown as

({, \begin{matrix} array ϕ_{d} = \arcsin (u_{x} s_{ψ} - u_{y} c_{ψ}) \\ array θ_{d} = \arcsin (\frac{u_{x} c_{ψ} + u_{y} s_{ψ}}{c_{ϕ}}) \\ array ψ_{d} = command value \end{matrix}) .

…”

Section: Qspsv Control Scheme and Trajectory Planningmentioning

confidence: 99%

“…Finally, by using u x , u y and commanding desired yaw angle 𝜓 d , the algorithm from reference paths to desired Euler angles can be solved [31], shown as…”

Section: Position Controlmentioning

confidence: 99%

Anti‐swing control and trajectory planning of quadrotor suspended payload system with variable length cable

Yang

Zhang

et al. 2021

Asian Journal of Control

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“…A comparative simulation is also used in Section 2.4 to highlight the superiorities. The DE has been successfully applied in flight control of the quad-rotors such as the path following [30] and payloads transportation [29,31].…”

Section: Paper Scope and Contributionmentioning

confidence: 99%

A Novel Disturbance Estimator-Enhanced Predictive Control Approach for Landing Planar Movement Control of Amphibious Airplanes

Wang

Wei

et al. 2021

IEEE Access

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This paper investigates the landing planar movement control (LPMC) problem of an amphibious airplane which is susceptible to uncertainties such as the gust, the unmodeled dynamics and the strong couplings. The uncertainties can bring negative effects for the airplane acting in forms of persistent influences and sudden changes, damaging system stability and causing rollover. To attenuate the persistent disturbances, an entirely novel disturbance estimator that can estimate the non-smooth disturbances accurately is designed. To degrade the impacts from sudden changes, a type of predictive controller is developed such that input surging can be suppressed. Comparison with the conventional PID method shows that the proposed approach enables the system good robustness in attenuating both persistent disturbances and sudden changes during the LPMC.

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“…Compared with the payload fixed on the quadrotor, the quadrotor-suspended system does not need to consider the shape of the payload, avoiding the problem of the mismatch between the payload and the shape of quadrotor. It can maintain the flexibility of the quadrotor and reduce the impact of the payload on the quadrotor itself (Li et al, 2019; Omar et al, 2022).…”

Section: Introductionmentioning

confidence: 99%

Modeling and anti-swing control of quadrotor-suspended system with variable cable length at unequal speed

Zhang

Han

Yang

et al. 2023

Transactions of the Institute of Measurement and Control

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Aiming at the problem of payload’s swing and communication resource saving of the quadrotor-suspended system under external disturbances, this paper proposes a modeling and control scheme of the quadrotor-suspended system with variable cable length at unequal speed. The inner loop adopts adaptive sliding mode control to enhance the robustness of the system and anti-swing feedforward control to suppress the swing angle, and the outer loop uses improved PD control to track the reference trajectory. Meanwhile, an event-triggered strategy based on dynamic threshold is designed in the inner loop controller, which reduces communication resource occupation. The stability of the coupled nonlinear control system is proved, and the event-triggered strategy can avoid Zeno behavior. Simulation results show that the scheme proposed in this paper can make the quadrotor track the desired trajectory, effectively suppress the payload swing, and save communication resources.

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An internal model frame-based disturbance attenuation control scheme for quad-rotors transporting unknown payloads

Cited by 10 publications

References 23 publications

Anti‐swing control and trajectory planning of quadrotor suspended payload system with variable length cable

Anti‐swing control and trajectory planning of quadrotor suspended payload system with variable length cable

A Novel Disturbance Estimator-Enhanced Predictive Control Approach for Landing Planar Movement Control of Amphibious Airplanes

Modeling and anti-swing control of quadrotor-suspended system with variable cable length at unequal speed

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