Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration
This paper addresses the problem of damping vibrations of a cable-suspended payload during positioning of the quadrotor. A nonlinear model is derived for the coupled quadrotor-pendulum system in the X-Z plane using Euler–Lagrange formulation. Sliding mode control (SMC) is used for horizontal positio...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/5058039 |
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| _version_ | 1832546911266013184 |
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| author | Tom Kusznir Jaroslaw Smoczek |
| author_facet | Tom Kusznir Jaroslaw Smoczek |
| author_sort | Tom Kusznir |
| collection | DOAJ |
| description | This paper addresses the problem of damping vibrations of a cable-suspended payload during positioning of the quadrotor. A nonlinear model is derived for the coupled quadrotor-pendulum system in the X-Z plane using Euler–Lagrange formulation. Sliding mode control (SMC) is used for horizontal positioning and payload vibration damping, while a feedback linearizing controller is used for both altitude and attitude control. The SMC surface parameters are determined by placing the eigenvalues of the linearized system at a desired position. The simulation results show the effectiveness of the proposed control method in minimizing payload vibration by comparing it with a partial feedback linearizing controller and a ZVDD input shaper. |
| format | Article |
| id | doaj-art-e687e07279ea49fdb271094cc729c9ea |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-e687e07279ea49fdb271094cc729c9ea2025-02-03T06:46:52ZengWileyJournal of Control Science and Engineering1687-52491687-52572020-01-01202010.1155/2020/50580395058039Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload VibrationTom Kusznir0Jaroslaw Smoczek1AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Krakow 30059, PolandAGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Krakow 30059, PolandThis paper addresses the problem of damping vibrations of a cable-suspended payload during positioning of the quadrotor. A nonlinear model is derived for the coupled quadrotor-pendulum system in the X-Z plane using Euler–Lagrange formulation. Sliding mode control (SMC) is used for horizontal positioning and payload vibration damping, while a feedback linearizing controller is used for both altitude and attitude control. The SMC surface parameters are determined by placing the eigenvalues of the linearized system at a desired position. The simulation results show the effectiveness of the proposed control method in minimizing payload vibration by comparing it with a partial feedback linearizing controller and a ZVDD input shaper.http://dx.doi.org/10.1155/2020/5058039 |
| spellingShingle | Tom Kusznir Jaroslaw Smoczek Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration Journal of Control Science and Engineering |
| title | Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration |
| title_full | Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration |
| title_fullStr | Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration |
| title_full_unstemmed | Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration |
| title_short | Sliding Mode-Based Control of a UAV Quadrotor for Suppressing the Cable-Suspended Payload Vibration |
| title_sort | sliding mode based control of a uav quadrotor for suppressing the cable suspended payload vibration |
| url | http://dx.doi.org/10.1155/2020/5058039 |
| work_keys_str_mv | AT tomkusznir slidingmodebasedcontrolofauavquadrotorforsuppressingthecablesuspendedpayloadvibration AT jaroslawsmoczek slidingmodebasedcontrolofauavquadrotorforsuppressingthecablesuspendedpayloadvibration |