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Sliding mode control for a quadrotor slung load system
Yi K(易奎); Gu F(谷丰); Yang LY(杨丽英); He YQ(何玉庆); Han JD(韩建达)
作者部门机器人学研究室
会议名称36th Chinese Control Conference, CCC 2017
会议日期July 26-28, 2017
会议地点Dalian, China
会议主办者Dalian University of Technology ; Systems Engineering Society of China (SESC) ; Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议录名称Proceedings of the 36th Chinese Control Conference, CCC 2017
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2017
页码3697-3703
收录类别EI ; CPCI(ISTP)
EI收录号20174404319433
WOS记录号WOS:000432014404059
产权排序1
ISSN号1934-1768
ISBN号978-1-5386-2918-5
关键词Sliding Mode Control Quadrotor Load Swing System Modeling Simulation
摘要

This paper studies the modeling and control of a quadrotor with a suspended load. It is shown that the excessive load swing is the part of the system dynamics, which may degrade the quadrotor control performance. A detailed analysis about the system modeling with the load swing effect is carried out based on Newton-Euler and Euler-Lagrange method. A framework for sliding mode control of the quadrotor slung load system is then developed. The simulation results show the excellent modeling and control performance.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21077
专题机器人学研究室
通讯作者Yi K(易奎)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
推荐引用方式
GB/T 7714
Yi K,Gu F,Yang LY,et al. Sliding mode control for a quadrotor slung load system[C]//Dalian University of Technology, Systems Engineering Society of China (SESC), Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA). Piscataway, NJ, USA:IEEE Computer Society,2017:3697-3703.
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