Sliding mode control for a quadrotor slung load system | |
He YQ(何玉庆)![]() ![]() ![]() ![]() | |
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
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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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