Title :
Modelling and control of a PVTOL quadrotor carrying a suspended load
Author :
Beloti Pizetta, Igor Henrique ; Santos Brandao, Alexandre ; Sarcinelli-Filho, Mario
Author_Institution :
Dept. of Mech., Fed. Inst. of Espirito Santo, Aracruz, Brazil
Abstract :
This work proposes the representation of the high level dynamic model of a quadrotor UAV with a suspended load, through Euler-Lagrange equations. The rotorcraft movement is restricted to the XZ plane of the Cartesian space, so that it performs like a PVTOL machine. A nonlinear controller is proposed to stabilize the quadrotor and the load, during positioning and trajectory tracking tasks. Finally, simulated results are presented in order to validate the proposal.
Keywords :
autonomous aerial vehicles; helicopters; nonlinear control systems; trajectory control; vehicle dynamics; Cartesian space; Euler-Lagrange equations; PVTOL machine; PVTOL quadrotor; XZ plane; high level dynamic model; nonlinear controller; quadrotor UAV; rotorcraft movement; suspended load; trajectory tracking tasks; Aircraft; Atmospheric modeling; Dynamics; Load modeling; Mathematical model; Vehicle dynamics; Vehicles;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2015 International Conference on
Conference_Location :
Denver, CO
Print_ISBN :
978-1-4799-6009-5
DOI :
10.1109/ICUAS.2015.7152321
