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Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load
Yi K(易奎)1,2,3; Liang X(梁潇)4,5; He YQ(何玉庆)1,2; Yang LY(杨丽英)1,2; Han JD(韩建达)4,5
Department机器人学研究室
Source PublicationELECTRONICS
ISSN2079-9292
2019
Volume8Issue:4Pages:1-12
Indexed BySCI
WOS IDWOS:000467751100092
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China ; National Natural Science Foundation of China
Keywordquadrotor slung load system modeling error active estimation rapidly-changed load compensation control cable-suspended
AbstractIn this paper, a simple active-model-based control scheme is developed for the quadrotor slung load (QSL) system. The scheme works to improve the rejection of the influences caused by the abruptly changed load as a complementary enhancement while maintaining the structure and parameters of the original controller. A linearized model is first constructed with respect to the hovering state of a quadrotor. Modeling error is then introduced to describe the uncertainties caused by the load change and the simplified model. The modeling error is actively estimated by a Kalman filter (KF), while the estimation is further integrated into a normal controller, to enhance its performance of disturbance rejection. Experiments are conducted on a quadrotor controlled by the Pixhawk, which is one of the most popular controllers commercially available on the market. The improvements of the proposed scheme are shown by the comparisons between the controls with and without the active-model-based enhancement. The experiments also indicate that, with its simple structure and less computational algorithm, this active-model-based enhancement would be a feasible approach to enhance the commercial UAV controller to handle more uncertainties.
Language英语
WOS SubjectEngineering, Electrical & Electronic
WOS Research AreaEngineering
Funding ProjectNational Key Research and Development Program of China[2017YFD0701002] ; National Natural Science Foundation of China[91848203] ; National Natural Science Foundation of China[U1508208] ; National Natural Science Foundation of China[61503369]
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24732
Collection机器人学研究室
Corresponding AuthorHan JD(韩建达)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin 300350, China
5.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China
Recommended Citation
GB/T 7714
Yi K,Liang X,He YQ,et al. Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load[J]. ELECTRONICS,2019,8(4):1-12.
APA Yi K,Liang X,He YQ,Yang LY,&Han JD.(2019).Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load.ELECTRONICS,8(4),1-12.
MLA Yi K,et al."Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load".ELECTRONICS 8.4(2019):1-12.
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