Active-Model-Based Control for the Quadrotor Carrying a Changed Slung Load

• DOI: 10.3390/electronics8040461
• Publication Date: 2019-04-25T14:44:06Z
• Authors: Kui Yi; Xiao Liang; Yuqing He; Liying Yang; Jianda Han
• Keywords: 0209 industrial biotechnology; compensation control; cable-suspended; 621; quadrotor slung load system; modeling error; 02 engineering and technology; 629; Engineering; Electrical & Electronic; active estimation; rapidly-changed load

In this paper, a simple active-model-based control scheme is developed for the quadrotor slung load (QSL) system. The works to improve rejection of influences caused by abruptly changed as complementary enhancement while maintaining structure and parameters original controller. A linearized model first constructed with respect hovering state quadrotor. Modeling error then introduced describe uncertainties change simplified model. modeling actively estimated Kalman filter (KF), estimation further integrated into normal controller, enhance its performance disturbance rejection. Experiments are conducted on controlled Pixhawk, which one most popular controllers commercially available market. improvements proposed shown comparisons between controls without enhancement. experiments also indicate that, less computational algorithm, would be feasible approach commercial UAV controller handle more uncertainties.