Control design with inverse feedback shaper for quadcopter with suspended load

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F18%3A00325884" target="_blank" >RIV/68407700:21220/18:00325884 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21230/18:00325884 RIV/68407700:21730/18:00325884
Result on the web
<a href="http://dx.doi.org/10.1115/DSCC2018-9052" target="_blank" >http://dx.doi.org/10.1115/DSCC2018-9052</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1115/DSCC2018-9052" target="_blank" >10.1115/DSCC2018-9052</a>

Result language
angličtina
Original language name
Control design with inverse feedback shaper for quadcopter with suspended load
Original language description
A control design and numerical study is presented for the problem of maneuvering a quadcopter with suspended load. An inverse shaper with a distributed time delay is applied to the feedback path in order to pre-compensate the oscillatory mode of the two-body system. As the first step, the mode to be targeted by the inverse shaper is determined, which is neither the oscillatory mode of the overall system dynamics, nor the oscillatory mode of the suspended load. Next, the established cascade control scheme for UAVs with slave PD pitch angle controller and master PID velocity controller is adopted and supplemented by the inverse shaper tuned to the isolated flexible mode. The numerical and simulation based analysis reveals the key design aspects and dynamics features - due to including the inverse shaper with time delays, the closed loop system becomes infinite dimensional. As the main result, the positive effects of including the inverse shaper in the loop feedback are demonstrated. First of all, the oscillatory mode is well compensated when excited by both the set-point and disturbance changes. Besides, it is shown that the mode compensation is preserved even when reaching the saturation limits at the control actions.
Czech name
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Czech description
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Project
<a href="/en/project/LTAUSA17103" target="_blank" >LTAUSA17103: Time-delay control laws for innovative transportation UAV systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of ASME 2018 Dynamic Systems and Control Conference
ISBN
978-0-7918-5191-3
ISSN
—
e-ISSN
2151-1853
Number of pages
10
Pages from-to
—
Publisher name
ASME Dynamic Systems and Control Division
Place of publication
Michigan
Event location
Atlanta, Georgia
Event date
Sep 30, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000461127400071

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