Damping oscillation of suspended payload by up and down motion of the pivot base - time delay algorithms for UAV applications

Kuře, Matěj; Bušek, Jaroslav; Vyhlídal, Tomáš; Niculescu, Silviu–Iulian

doi:10.1016/j.ifacol.2019.12.217

Cited by 7 publications

(7 citation statements)

References 19 publications

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“…The characteristics of this system are discussed in [19]. Similar results for second order systems can be found in the articles [20] and [21] and were received independently from [16][17][18].…”

Section: B Parametric Controllermentioning

confidence: 71%

“…1b. The design a properties of this time varying systems were discussed in [9,20,21]. If the length of the suspension can vary (for example by rotating the drum), we have a chance to control the oscillations, too.…”

Section: Theoretical Partmentioning

confidence: 99%

“…The solutions of (8) for fixed strictly periodical variation of the parameter ∆l(t) are well-studied by Floquet theory and are represented as several periodical functions multiplied by corresponding exponents. The results of [9], [20], [21] show experimental algorithms to control the period of the parameter ∆l(t). On the contrast to these methods the suggested feedback (5) is supported by analytical approach for its adjustment.…”

Section: B Parametric Controllermentioning

confidence: 99%

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Parametric and Coordinate Control of Oscillating Systems: Physics-Based Oscillation Feedback Design

et al. 2021

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This paper presents and compares two practical implementation schemes based on parametric and coordinate control. The parametric feedback control idea employs a parametric resonance phenomenon. An approximate frequency domain stationarization approach yields the setting for a very simple controller scheme. The application and numerical analysis of the results are given for the pendulum control example, which length varies in a parametric control case. The coordinate and parametric control demonstrate similar damping properties. The study also provides an inventive idea for passive parametric control combined with coordinate control that shows better damping. INDEX TERMSParameter-varying systems, time-varying systems, output feedback control, sinusoidal signals, settling time.

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Section: B Parametric Controllermentioning

confidence: 71%

Section: Theoretical Partmentioning

confidence: 99%

Section: B Parametric Controllermentioning

confidence: 99%

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Parametric and Coordinate Control of Oscillating Systems: Physics-Based Oscillation Feedback Design

et al. 2021

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“…The paper is concluded by some brief summary in Section 6. It is worth mentioning that the problem motivation and a part of the theoretical results were presented in a conference paper [29]. As these results are experimentally validated in the Case study section 5, we present them in Section 3 due to the consistency reasons.…”

Section: Problem Motivation and Formulationmentioning

confidence: 90%

“…From the algorithms based on harmonic motion of the pivot, the delay free algorithm (32) is considered. Its simulation is easy to perform as the initial conditions are point-wise, whereas they are time distributed for the time delay rule (29). Taking into account (18), the harmonic control rule is given by:…”

Section: Sway Damping Of An Isolated Pendulummentioning

confidence: 99%

Algorithms for cable-suspended payload sway damping by vertical motion of the pivot base

Kuře

Bušek

Vyhlídal

et al. 2021

Mechanical Systems and Signal Processing

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The solution of a case study problem of suspended payload sway damping by moving a pivot base in vertical direction is presented. Unlike for the classical problem of anti-sway control for moving the base in the horizontal direction, implemented e.g. in cranes, a direct solution by using control feedback theory for linear systems is not possible. Once the model is linearized, it becomes uncontrollable. Thus, a derivation of a nonlinear controller is needed to solve the task. In this context, two solutions are proposed. The first solution is based on imposing harmonic motion of the base with double frequency of the payload natural frequency. Synchronization of the base and the payload deflection angle is done either by proportional time-delay controller or by proportional-derivative delay free controller. Secondly, the Lyapunov's second method is directly applied to derive a nonlinear controller. For both cases, balancing the dissipated energy, rules for determining equivalent damping are explicitly derived. After discussing and solving the corresponding implementation aspects, both simulation and experimental validations are performed. The experimental validation is performed on a simplified problem, where only horizontal motion is possible. The simulation based validation is performed on a nonlinear two dimensional model of a quadcopter carrying a suspended payload.

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External force estimation and disturbance rejection for Micro Aerial Vehicles

Papadimitriou

Jafari

Mansouri

et al. 2022

Expert Systems with Applications

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Damping oscillation of suspended payload by up and down motion of the pivot base - time delay algorithms for UAV applications

Cited by 7 publications

References 19 publications

Parametric and Coordinate Control of Oscillating Systems: Physics-Based Oscillation Feedback Design

Parametric and Coordinate Control of Oscillating Systems: Physics-Based Oscillation Feedback Design

Algorithms for cable-suspended payload sway damping by vertical motion of the pivot base

External force estimation and disturbance rejection for Micro Aerial Vehicles

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