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Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load

1,2,3, 4,5, 1,2, 1,2 and 4,5,*
1
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2
Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3
University of Chinese Academy of Sciences, Beijing 100049, China
4
Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin 300350, China
5
Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China
*
Author to whom correspondence should be addressed.
Electronics 2019, 8(4), 461; https://doi.org/10.3390/electronics8040461
Received: 19 March 2019 / Revised: 17 April 2019 / Accepted: 18 April 2019 / Published: 25 April 2019
(This article belongs to the Special Issue Autonomous Navigation Systems for Unmanned Aerial Vehicles)
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Abstract

In this paper, a simple active-model-based control scheme is developed for the quadrotor slung load (QSL) system. The scheme works to improve the rejection of the influences caused by the abruptly changed load as a complementary enhancement while maintaining the structure and parameters of the original controller. A linearized model is first constructed with respect to the hovering state of a quadrotor. Modeling error is then introduced to describe the uncertainties caused by the load change and the simplified model. The modeling error is actively estimated by a Kalman filter (KF), while the estimation is further integrated into a normal controller, to enhance its performance of disturbance rejection. Experiments are conducted on a quadrotor controlled by the Pixhawk, which is one of the most popular controllers commercially available on the market. The improvements of the proposed scheme are shown by the comparisons between the controls with and without the active-model-based enhancement. The experiments also indicate that, with its simple structure and less computational algorithm, this active-model-based enhancement would be a feasible approach to enhance the commercial UAV controller to handle more uncertainties. View Full-Text
Keywords: quadrotor slung load system; modeling error; active estimation; rapidly-changed load; compensation control; cable-suspended quadrotor slung load system; modeling error; active estimation; rapidly-changed load; compensation control; cable-suspended
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Yi, K.; Liang, X.; He, Y.; Yang, L.; Han, J. Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load. Electronics 2019, 8, 461.

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