Swing compensation of a payload suspended to a planar copter
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F21%3A00351023" target="_blank" >RIV/68407700:21220/21:00351023 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21730/21:00351023
Result on the web
<a href="https://doi.org/10.1109/PC52310.2021.9447469" target="_blank" >https://doi.org/10.1109/PC52310.2021.9447469</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/PC52310.2021.9447469" target="_blank" >10.1109/PC52310.2021.9447469</a>
Alternative languages
Result language
angličtina
Original language name
Swing compensation of a payload suspended to a planar copter
Original language description
A switching strategy to compensate copter's suspended payload swing is presented. In order to prevent the payload swing during the maneuvers, the inverse input shaper is placed to the feedback loop. This approach prevents payload swinging in presence of set-point change or control input disturbance. Nevertheless, in case of external disturbance acting on payload directly, input shaper is powerless. Therefore, a nonlinear time-delayed algorithm is involved to suppress the residual swing by up and down motion of the copter. However, there's no need to use that algorithm all the time. Thus, a switching strategy between the two algorithms is developed and presented. A simulation based verification is performed to validate the results.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
<a href="/en/project/GA21-03689S" target="_blank" >GA21-03689S: Novel concepts for analysis and design of nonlinear controllers and compensators of flexible and chained mechanical systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 23rd International Conference on Process Control
ISBN
978-1-6654-0330-6
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
7-12
Publisher name
IEEE
Place of publication
Piscataway
Event location
Štrbské Pleso
Event date
Jun 1, 2021
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000723653400002