Abstract
Quadrotor flying vehicles with suspended loads have a lot of applications, such as mine detection and transferring loads for delivery, or through places where ground vehicles cannot reach. In these applications, the payload will be suspended underneath the vehicle and it is subjected to large oscillations due to external disturbances or the acceleration of the vehicle itself. These oscillations add additional forces and moments to the quadrotor, and this deteriorates its performance and stability. In this paper, we developed a hardware-in-the-loop (HIL) simulation platform for a quadrotor with a suspended load system using Gazebo. The developed platform can be used to understand the dynamics of the system and design control systems to suppress the oscillation of the suspended load. An anti-swing controller that is based on time-delayed feedback of the load swing angles is implemented in the designed HIL environment to show the usefulness of the newly developed system and the effectiveness of the anti-swing controller.
Highlights
In recent years, the demanding nature of civilian and military applications has brought significant attention to autonomous vehicles
The orientation of the body frame with respect to the earth frame is given by the angles φ, The suspended load can be described as a point mass that behaves as a spherical θ, and ψ, which represent the roll, pitch, and yaw, respectively [21]
The objective of the tracking controller is to follow the original trajectory of the quadcopter and the additional trajectory that is generated from the anti-swing controller
Summary
The demanding nature of civilian and military applications has brought significant attention to autonomous vehicles. This configuration allows delivering the package without the necessity to land the vehicle, which improves the mission efficiency It will complicate the dynamics and the performance of the quadrotor, especially when controlling the position of the payload in windy scenarios. Many researchers have recently started to develop control systems for the quadrotor with suspended load to stabilize the vehicle and suppress the oscillations of the load, alongside attaining accurate pickup and positioning of the load. It is expensive and time-consuming to develop and test algorithms for autonomous vehicles in the actual world.
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