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Dynamics modeling and analysis for unmanned quadrotor transportation systems with double-pendulum swing effects
Liang X(梁潇)1,2; Lin, He1; Fang YC(方勇纯)1; Zhang, Peng1; Li, Chenping1; Zhao XG(赵新刚)2; Liang X(梁潇)3,4; Lin, He3; Fang YC(方勇纯)3; Zhang, Peng3; Li, Chenping3; Zhao XG(赵新刚)4
Department机器人学研究室
Conference Name4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Conference DateJuly 3-5, 2019
Conference PlaceOsaka, Japan
Source Publication2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages628-633
Indexed ByEI ; CPCI(ISTP)
EI Accession number20194207541939
WOS IDWOS:000557246500107
Contribution Rank1
ISBN978-1-7281-0064-7
AbstractDue to the double-pendulum phenomenon in practical applications of the quadrotor transportation systems, most existing control methods based on simplified single-pendulums are no longer applicable. To achieve simultaneous quadrotor positioning control and swing elimination for the hook and the payload, an accurate system model is of great significance. Specifically, the dynamic equation of the plant is obtained by Lagrange's modeling method. The main characteristics of the system is then analyzed based on the derived model. Numerical simulations for the two control schemes are presented to reveal the characteristics of the unmanned quadrotor transportation systems.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25779
Collection机器人学研究室
Corresponding AuthorFang YC(方勇纯); Fang YC(方勇纯)
Affiliation1.Institute of Robotics and Automation Information System, College of Artificial Intelligence, Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.Institute of Robotics and Automation Information System, College of Artificial Intelligence, Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China
4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Liang X,Lin, He,Fang YC,et al. Dynamics modeling and analysis for unmanned quadrotor transportation systems with double-pendulum swing effects[C]. New York:IEEE,2019:628-633.
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