Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV

المؤلفون المشاركون

Raffo, Guilherme V.
Santos, M. A.
Rego, B. S.
Ferramosca, A.

المصدر

Journal of Advanced Transportation

العدد

المجلد 2017، العدد 2017 (31 ديسمبر/كانون الأول 2017)، ص ص. 1-22، 22ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2017-10-19

دولة النشر

مصر

عدد الصفحات

22

التخصصات الرئيسية

هندسة مدنية

الملخص EN

This work proposes a control strategy to solve the path tracking problem of a suspended load carried by a tilt-rotor unmanned aerial vehicle (UAV).

Initially, the equations of motion for the multibody mechanical system are derived from the load’s perspective by means of the Euler-Lagrange formulation, in which the load’s position and orientation are chosen as degrees of freedom.

An unscented Kalman filter (UKF) is designed for nonlinear state estimation of all the system states, assuming that available information is provided by noisy sensors with different sampling rates that do not directly measure the load’s attitude.

Furthermore, a model predictive control (MPC) strategy is proposed for path tracking of the suspended load with stabilization of the tilt-rotor UAV when parametric uncertainties and external disturbances affect the load, the rope’s length and total system mass vary during taking-off and landing, and the desired yaw angle changes throughout the trajectory.

Finally, numerical experiments are presented to corroborate the good performance of the proposed strategy.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Santos, M. A.& Rego, B. S.& Raffo, Guilherme V.& Ferramosca, A.. 2017. Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV. Journal of Advanced Transportation،Vol. 2017, no. 2017, pp.1-22.
https://search.emarefa.net/detail/BIM-1171073

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Santos, M. A.…[et al.]. Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV. Journal of Advanced Transportation No. 2017 (2017), pp.1-22.
https://search.emarefa.net/detail/BIM-1171073

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Santos, M. A.& Rego, B. S.& Raffo, Guilherme V.& Ferramosca, A.. Suspended Load Path Tracking Control Strategy Using a Tilt-Rotor UAV. Journal of Advanced Transportation. 2017. Vol. 2017, no. 2017, pp.1-22.
https://search.emarefa.net/detail/BIM-1171073

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-1171073