Abstract
The dual-quadrotors slung system may be utilized in the handling service of heavy and bulky loads. However, the coupled oscillations between the quadrotor attitudes and suspended load exhibit complicated dynamic behaviors, which degrade the safety and efficiency of the transport system. Although many works have been focused on the multiple quadrotors suspending a load, those prior studies did not consider the coupling effects between the quadrotor attitudes and the cable pendulum. This paper established a nonlinear dynamic model of dual-quadrotors carrying a slender beam undergoing planar motions, which described the coupled attitude-pendulum oscillations. Then a frequency estimator was resulted from the system parameters for investigating the dynamics. In addition, a novel combined modified model-following control and discontinuous piecewise smoother was proposed to suppress oscillations. The technical results in the simulations not only describe the dynamic behavior of the analytical model but also validate the effectiveness of the control method.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
