Dynamic modelling and swing control of a quadrotor with a cable-suspended payload

A quadrotor is a highly nonlinear system due to the presence of aerodynamic factors such as Coriolis and gyroscopic effects when in flight. In meeting todays’ demands, the applications of quadrotors have been extended to include transportation and therefore, the study of Quadrotor Suspended Load (QS...

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Main Author:	Phiri, Tamani
Format:	Thesis
Language:	English
Published:	2021
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/98381/1/TamaniPhiriMSEE2021.pdf.pdf
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id	my-utm-ep.98381
record_format	uketd_dc
spelling	my-utm-ep.983812022-12-11T03:45:12Z Dynamic modelling and swing control of a quadrotor with a cable-suspended payload 2021 Phiri, Tamani TJ Mechanical engineering and machinery A quadrotor is a highly nonlinear system due to the presence of aerodynamic factors such as Coriolis and gyroscopic effects when in flight. In meeting todays’ demands, the applications of quadrotors have been extended to include transportation and therefore, the study of Quadrotor Suspended Load (QSL) systems has become equally as important. However, the presence of the suspended load further complicates the quadrotor system as there is strong coupling with the load and excessive load swinging. This is a problem which forms the basis for this work. This project begins by providing a mathematical description of the QSL system using Euler-Lagrange equations as they are much simplified, yet encompass the many factors present during quadrotor operation and subsequently control excessive payload swinging. The main strength of this work is that unlike other previous work, it covers 8 degrees of freedom (8 DOF) in representing the system dynamics. This presents a much more comprehensive and definitive way of describing the quadrotor and payload positions. Input shaping is used as the swing controller as it is more practical and has been used for swing control of other systems. Validation of the swing controller performance is done using MATLAB SIMULINK. Unlike other controllers that require sophisticated algorithms for their implementation, input shaping will be used as a swing controller as it is much simplified in handling excessive load swinging. 2021 Thesis http://eprints.utm.my/id/eprint/98381/ http://eprints.utm.my/id/eprint/98381/1/TamaniPhiriMSEE2021.pdf.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:144572 masters Universiti Teknologi Malaysia Faculty of Engineering - School of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Phiri, Tamani Dynamic modelling and swing control of a quadrotor with a cable-suspended payload
description	A quadrotor is a highly nonlinear system due to the presence of aerodynamic factors such as Coriolis and gyroscopic effects when in flight. In meeting todays’ demands, the applications of quadrotors have been extended to include transportation and therefore, the study of Quadrotor Suspended Load (QSL) systems has become equally as important. However, the presence of the suspended load further complicates the quadrotor system as there is strong coupling with the load and excessive load swinging. This is a problem which forms the basis for this work. This project begins by providing a mathematical description of the QSL system using Euler-Lagrange equations as they are much simplified, yet encompass the many factors present during quadrotor operation and subsequently control excessive payload swinging. The main strength of this work is that unlike other previous work, it covers 8 degrees of freedom (8 DOF) in representing the system dynamics. This presents a much more comprehensive and definitive way of describing the quadrotor and payload positions. Input shaping is used as the swing controller as it is more practical and has been used for swing control of other systems. Validation of the swing controller performance is done using MATLAB SIMULINK. Unlike other controllers that require sophisticated algorithms for their implementation, input shaping will be used as a swing controller as it is much simplified in handling excessive load swinging.
format	Thesis
qualification_level	Master's degree
author	Phiri, Tamani
author_facet	Phiri, Tamani
author_sort	Phiri, Tamani
title	Dynamic modelling and swing control of a quadrotor with a cable-suspended payload
title_short	Dynamic modelling and swing control of a quadrotor with a cable-suspended payload
title_full	Dynamic modelling and swing control of a quadrotor with a cable-suspended payload
title_fullStr	Dynamic modelling and swing control of a quadrotor with a cable-suspended payload
title_full_unstemmed	Dynamic modelling and swing control of a quadrotor with a cable-suspended payload
title_sort	dynamic modelling and swing control of a quadrotor with a cable-suspended payload
granting_institution	Universiti Teknologi Malaysia
granting_department	Faculty of Engineering - School of Electrical Engineering
publishDate	2021
url	http://eprints.utm.my/id/eprint/98381/1/TamaniPhiriMSEE2021.pdf.pdf
_version_	1776100584141619200

Dynamic modelling and swing control of a quadrotor with a cable-suspended payload

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