Vis enkel innførsel

dc.contributor.authorKlausen, Kristian
dc.contributor.authorFossen, Thor I.
dc.contributor.authorJohansen, Tor Arne
dc.date.accessioned2018-02-19T10:22:12Z
dc.date.available2018-02-19T10:22:12Z
dc.date.created2017-12-16T21:33:43Z
dc.date.issued2017
dc.identifier.citationJournal of Intelligent and Robotic Systems. 2017, 88 (2-4), 379–394.nb_NO
dc.identifier.issn0921-0296
dc.identifier.urihttp://hdl.handle.net/11250/2485626
dc.description.abstractIn this paper, we consider the problem of trajectory tracking of a multirotor Unmanned Aerial Vehicle carrying a suspended payload. The movement of the suspended payload influences the dynamics of the multirotor, which must be appropriately handled by the controller to achieve satisfactory tracking results. We derive a mathematical model of the interconnected multi-body system using Kane’s equations, and develop a non-linear tracking controller based on the backstepping technique. In addition to suppressing the effects of the swinging payload, the controller also compensates for an unknown constant wind disturbance. The origin of the tracking error is proven UGAS (Uniformly Globally Asymptotically Stable) and ULES (Uniformly Locally Exponentially Stable) through Lyapunov analysis. To reduce the swing motion of the suspended load, a nominal swing-free path is generated through open loop shaping filters, then further perturbed through a delayed feedback approach from measured load deflection angles to achieve robustness. The proposed controller structure is verified by simulations and experiments.nb_NO
dc.language.isoengnb_NO
dc.publisherSpringernb_NO
dc.titleNonlinear Control with Swing Damping of a Multirotor UAV with Suspended Loadnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber379–394nb_NO
dc.source.volume88nb_NO
dc.source.journalJournal of Intelligent and Robotic Systemsnb_NO
dc.source.issue2-4nb_NO
dc.identifier.doi10.1007/s10846-017-0509-6
dc.identifier.cristin1528430
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcode© Springer Science+Business Media Dordrecht 2017. This is a post-peer-review, pre-copyedit version of the article, locked until 2 March 2018 due to copyright restrictions. The final authenticated version is available online at: http://dx.doi.org/10.1007/s10846-017-0509-6nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


Tilhørende fil(er)

Thumbnail

Denne innførselen finnes i følgende samling(er)

Vis enkel innførsel