Sliding mode control for a quadrotor slung load system
He YQ(何玉庆); Yang LY(杨丽英); Yi K(易奎); Han JD(韩建达); Gu F(谷丰)
2017
会议名称36th Chinese Control Conference, CCC 2017
会议日期July 26-28, 2017
会议地点Dalian, China
关键词Sliding mode control quadrotor load swing system modeling simulation
页码3697-3703
通讯作者Yi K(易奎)
中文摘要This paper studies the modeling and control of a quadrotor with a suspended load. It is shown that the excessive load swing is the part of the system dynamics, which may degrade the quadrotor control performance. A detailed analysis about the system modeling with the load swing effect is carried out based on Newton-Euler and Euler-Lagrange method. A framework for sliding mode control of the quadrotor slung load system is then developed. The simulation results show the excellent modeling and control performance.
收录类别EI ; CPCI(ISTP)
产权排序1
会议主办者Dalian University of Technology; Systems Engineering Society of China (SESC); Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议录Proceedings of the 36th Chinese Control Conference, CCC 2017
会议录出版者IEEE Computer Society
会议录出版地Piscataway, NJ, USA
语种英语
ISSN号1934-1768
ISBN号978-1-5386-2918-5
WOS记录号WOS:000432014404059
内容类型会议论文
源URL[http://ir.sia.cn/handle/173321/21077]  
专题沈阳自动化研究所_机器人学研究室
作者单位1.University of Chinese Academy of Sciences, Beijing, 100049, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
推荐引用方式
GB/T 7714
He YQ,Yang LY,Yi K,et al. Sliding mode control for a quadrotor slung load system[C]. 见:36th Chinese Control Conference, CCC 2017. Dalian, China. July 26-28, 2017.
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