Mathematical Modeling and Control of an Unmanned Aerial System with a Cable Suspended Payload

This paper focuses on the mathematical modeling and control of an unmanned aerial system (UAS) with a payload suspended using a cable. The motion of the payload induces disturbances on the aerial platform and needs to be mitigated for stable operation. A passivity based controller is used to control...

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Bibliographic Details
Main Authors: Godbole, Ameya R., Subbarao, Kamesh
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
Angular velocity
Attitude control
Kinetic energy
Mathematical model
Payloads
Vehicle dynamics
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Summary:This paper focuses on the mathematical modeling and control of an unmanned aerial system (UAS) with a payload suspended using a cable. The motion of the payload induces disturbances on the aerial platform and needs to be mitigated for stable operation. A passivity based controller is used to control the position of the UAS. Assuming only the orientation angles of the payload with respect to a UAS are measured, a disturbance attenuating nonlinear attitude and position controller is designed. The implementation of the controller requires the knowledge of higher time derivatives of the payload oscillations. These states (primarily the angular velocity) are estimated using a continuous-discrete Kalman Filter. The efficacy of the combined estimator and controller is demonstrated using a high fidelity numerical simulation.
ISSN:1948-3457
DOI:10.1109/ICCA.2018.8444279