Vibration Elimination for Quadrotor Slung System Based on Input Shaping and Double Closed-loop Control

Undesirable residual vibration in dynamical system always causes many problems in logistic industries. For instance, a quadrotor is now considered to be used to deliver cargos instead of road transportation. However, the swing of cargos during the transportation process always causes threat to its safety and stability. In this paper, the mathematical model of a quadrotor slung system is established, and a double closed-loop control strategy is proposed, together with an input shaping design, to reduce the swing angle of load and keep quadrotor stable simultaneously in the presence of system uncertainties. Some numerical simulations are presented and the results verify the effectiveness of the proposed method.

[1]  William Singhose,et al.  Effects of hoisting on the input shaping control of gantry cranes , 2000 .

[2]  William Singhose,et al.  A controller enabling precise positioning and sway reduction in bridge and gantry cranes , 2007 .

[3]  Chenxing Li,et al.  Sway elimination for hoisting rod based on input shaping method , 2017, 2017 Chinese Automation Congress (CAC).

[4]  Vijay Kumar,et al.  Trajectory generation and control of a quadrotor with a cable-suspended load - A differentially-flat hybrid system , 2013, 2013 IEEE International Conference on Robotics and Automation.

[5]  S. Ali A. Moosavian,et al.  Damping control of a quadrotor with swinging load using input shaping method , 2014, 2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM).

[6]  Aaron McFadyen,et al.  Multi-rotor with suspended load: System Dynamics and Control Toolbox , 2015, 2015 IEEE Aerospace Conference.

[7]  O. Smith.  Posicast Control of Damped Oscillatory Systems , 1957 .

[8]  William Singhose,et al.  Input-Shaping and Model-Following Control of a Helicopter Carrying a Suspended Load , 2015 .

[9]  Lorenzo Marconi,et al.  Nested saturation control of an UAV carrying a suspended load , 2014, 2014 American Control Conference.

[10]  Jun Li,et al.  Dynamic analysis and PID control for a quadrotor , 2011, 2011 IEEE International Conference on Mechatronics and Automation.

[11]  Soumya Ranjan Sahoo,et al.  Quaternion based adaptive control for package delivery using variable-pitch quadrotors , 2018, 2018 Indian Control Conference (ICC).

[12]  S. Ali A. Moosavian,et al.  Dynamics Modeling and Control of a Quadrotor with Swing Load , 2014, J. Robotics.

[13]  William Singhose,et al.  Command shaping for flexible systems: A review of the first 50 years , 2009 .

[14]  Han Jianda,et al.  Sliding mode control for a quadrotor slung load system , 2017, 2017 36th Chinese Control Conference (CCC).

[15]  Paul Y. Oh,et al.  Development of Autonomous Cargo Transport for an Unmanned Aerial Vehicle Using Visual Servoing , 2008 .

[16]  Otto J. M. Smith.  Posicast Control of Damped Oscillatory Systems , 1957, Proceedings of the IRE.

[17]  Liu Jia,et al.  Cascade PID controller for quadrotor , 2016 .