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Quad-rotor lifting-transporting cable-suspended payloads control

Alothman, Y and Jasim, W and Gu, D (2015) Quad-rotor lifting-transporting cable-suspended payloads control. In: UNSPECIFIED, ? - ?.

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Abstract

© 2015 Chinese Automation and Computing Society in the UK - CACS. This paper presents the control of quadrotor UAV with cable-suspended stability. A linear quadratic regulator (LQR) control algorithm is proposed for lifting and transporting the load. The nonlinear dynamic model of the vehicle is represented with considering the cable-suspended load in eight degree of freedom, then the model is linearized at the hovering point. Two modes of taking-off are used, starting with taking-off without the load effect then switching to taking-off with the effect of load. The simulation presents the results to show the system stability and verify the LQR gains. The results are compared with the PD controller results.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: 2015 21st International Conference on Automation and Computing: Automation, Computing and Manufacturing for New Economic Growth, ICAC 2015
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Jim Jamieson
Date Deposited: 13 Dec 2016 14:54
Last Modified: 17 Aug 2017 17:20
URI: http://repository.essex.ac.uk/id/eprint/18536

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