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

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	Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load
	Han JD(韩建达)1,2 ; He YQ(何玉庆)4,5 ; Liang X(梁潇)1,2; Yi K(易奎)3,4,5; Yang LY(杨丽英)4,5
刊名	ELECTRONICS
	2019
卷号	8 期号:4 页码:1-12
关键词	quadrotor slung load system modeling error active estimation rapidly-changed load compensation control cable-suspended
ISSN号	2079-9292
产权排序	1
英文摘要	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.
资助项目	National Key Research and Development Program of China[2017YFD0701002] ; National Natural Science Foundation of China[91848203] ; National Natural Science Foundation of China[U1508208] ; National Natural Science Foundation of China[61503369]
WOS研究方向	Engineering
语种	英语
WOS记录号	WOS:000467751100092
资助机构	National Key Research and Development Program of China ; National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/24732]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Han JD(韩建达)
作者单位	1.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China 2.Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University, Tianjin 300350, China 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 5.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	Han JD,He YQ,Liang X,et al. Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load[J]. ELECTRONICS,2019,8(4):1-12.
APA	Han JD,He YQ,Liang X,Yi K,&Yang LY.(2019).Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load.ELECTRONICS,8(4),1-12.
MLA	Han JD,et al."Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load".ELECTRONICS 8.4(2019):1-12.