Input Shaping Soutions for Drones with Suspended Load: First Results
P. Homolka, M. Hromčík, T. Vyhlídal
Czech Technical University in Prague
Abstract
In this paper our first achievements are reported on application of input command shapers for control of quadcopters with suspended load. Simulation results are presented for a free 2DoF quadcopter. The flight control system, consisting of two PID controllers and of a static nonlinearity mapping the propellers thrusts to particular degrees of freedom, is augmented by input shapers in the feedforward path. Properties of the resulting control law are presented and further research proposals are elaborated.
Full paper
Session
Linear and Non-linear Control System Design (Lecture)
Reference
Homolka, P.; Hromčík, M.; Vyhlídal, T.: Input Shaping Soutions for Drones with Suspended Load: First Results. Editors: Fikar, M. and Kvasnica, M., In Proceedings of the 2017 21st International Conference on Process Control (PC), Štrbské Pleso, Slovakia, June 6 – 9, 30–35, 2017.
BibTeX
| @inProceedings{pc2017-053, | ||
| author | = { | Homolka, P. and Hrom\v{c}\'ik, M. and Vyhl\'idal, T.}, |
| title | = { | Input Shaping Soutions for Drones with Suspended Load: First Results}, |
| booktitle | = { | Proceedings of the 2017 21st International Conference on Process Control (PC)}, |
| year | = { | 2017}, |
| pages | = { | 30-35}, |
| editor | = { | Fikar, M. and Kvasnica, M.}, |
| address | = { | \v{S}trbsk\'e Pleso, Slovakia}} |