Abstract
This paper considers a quadrotor transportation system with a four-cable-suspended payload. The relative position between quadrotor and payload is introduced and used to derive the tension of cables and describe the transportation system. A cost function inspired by payload and time is built to equipoise rapid UAV positioning and payload swing elimination. Then，the pseudospectral method is applied to transform the optimal control problem into a nonlinear programming problem and solve the optimal trajectory. A quadrotor transportation system’s trajectory tracking is facilitated by a PID controller. The optimal trajectory is validated through the presentation of both simulation and experimental results at last.
| Translated title of the contribution | Dynamics and control of UAV transportation system with a four-cablesu-spended payload |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 1747-1757 |
| Number of pages | 11 |
| Journal | Zhendong Gongcheng Xuebao/Journal of Vibration Engineering |
| Volume | 37 |
| Issue number | 10 |
| DOIs | |
| Publication status | Published - Oct 2024 |
| Externally published | Yes |
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