Damping oscillation of suspended payload by up and down motion of the pivot base - time delay algorithms for UAV applications
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F19%3A00335836" target="_blank" >RIV/68407700:21220/19:00335836 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/19:00335836
Result on the web
<a href="http://dx.doi.org/10.1016/j.ifacol.2019.12.217" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2019.12.217</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.ifacol.2019.12.217" target="_blank" >10.1016/j.ifacol.2019.12.217</a>
Alternative languages
Result language
angličtina
Original language name
Damping oscillation of suspended payload by up and down motion of the pivot base - time delay algorithms for UAV applications
Original language description
A case study problem of damping oscillations of a pendulum by moving a pivot in vertical direction is presented. The motivation for solving this task comes from a broader research on designing advanced control algorithms for Unmanned Aerial Vehicles (UAVs) carrying a suspended payload. First, a nonlinear model for vertical motion of a quadcopter carrying a payload is derived and simplified to a nonlinear pendulum-like model. The main result is in deriving a nonlinear time-delay control law allowing to predefine a damping factor of the oscillations. Note that the problem at hand cannot be solved by a linear controller, as the oscillatory mode is not controllable once the model is linearised. The control law is then extended from pendulum to the quadcopter model considering an outer loop to control the horizontal motion. The theoretical results are then validated by simulations.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
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)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
IFAC-PapersOnLine
ISBN
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ISSN
2405-8963
e-ISSN
2405-8963
Number of pages
6
Pages from-to
121-126
Publisher name
International Federation of Automatic Control
Place of publication
Laxenburg
Event location
Sinaia
Event date
Sep 9, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000504412200022