Multi-rotor with suspended load: System dynamics and control toolbox


Autoria(s): Trachte, Jan Erik; Gonzalez, Luis Felipe; McFadyen, Aaron
Data(s)

07/03/2015

Resumo

There is an increasing demand for Unmanned Aerial Systems (UAS) to carry suspended loads as this can provide significant benefits to several applications in agriculture, law enforcement and construction. The load impact on the underlying system dynamics should not be neglected as significant feedback forces may be induced on the vehicle during certain flight manoeuvres. The constant variation in operating point induced by the slung load also causes conventional controllers to demand increased control effort. Much research has focused on standard multi-rotor position and attitude control with and without a slung load. However, predictive control schemes, such as Nonlinear Model Predictive Control (NMPC), have not yet been fully explored. To this end, we present a novel controller for safe and precise operation of multi-rotors with heavy slung load in three dimensions. The paper describes a System Dynamics and Control Simulation Toolbox for use with MATLAB/SIMULINK which includes a detailed simulation of the multi-rotor and slung load as well as a predictive controller to manage the nonlinear dynamics whilst accounting for system constraints. It is demonstrated that the controller simultaneously tracks specified waypoints and actively damps large slung load oscillations. A linear-quadratic regulator (LQR) is derived and control performance is compared. Results show the improved performance of the predictive controller for a larger flight envelope, including aggressive manoeuvres and large slung load displacements. The computational cost remains relatively small, amenable to practical implementations.

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/85025/

Publicador

IEEE

Relação

http://eprints.qut.edu.au/85025/1/IEEEPaper-T-Mc-Geprints.pdf

http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7119210

Trachte, Jan Erik, Gonzalez, Luis Felipe, & McFadyen, Aaron (2015) Multi-rotor with suspended load: System dynamics and control toolbox. In Proceedings of 2015 IEEE Aerospace Conference, IEEE, Yellowstone Conference Center, Big Sky, Montana.

Direitos

Copyright 2015 IEEE

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Fonte

Australian Research Centre for Aerospace Automation; School of Electrical Engineering & Computer Science; Institute for Future Environments; Science & Engineering Faculty

Palavras-Chave #090104 Aircraft Performance and Flight Control Systems #090602 Control Systems Robotics and Automation #Non-Linear Model Predictive Control #UAV #Slung/Swung Load #suspended load #agriculture
Tipo

Conference Paper