Recently, expansion of drone applications has been expected, and payload delivery using drones is one such application. In this study, we consider a case in which a quadrotor carries a suspended payload and investigate a control scheme to eliminate oscillation of the payload caused by quadrotor maneuvers. We assume a model that has an offset between the suspension point and the center of mass of the quadrotor and derive the equations of motion. The input shaping technique is applied to the velocity control of the quadrotor to suppress the payload oscillation. Finally, the effectiveness of the input-shaping-based velocity control for payload oscillation suppression is verified through numerical simulations.
雑誌名
日本機械学会関東支部総会講演会講演論文集
巻
24
発行年
2018
DOI
https://doi.org/10.1299/jsmekanto.2018.24.GS0613
権利
日本機械学会
著者版フラグ
publisher
その他のタイトル
Oscillation Suppression Control of a Quadrotor-borne Payload Using Input Shaping
インプットシェーピングによるクアッドローター吊り下げ荷物の振子運動抑制制御
10978-001.pdf
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