On set-point control of a quadrotor-type helicopter with a suspended load

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Abstract

The paper presents an approach for set-point control of a quadrotor with a suspended load. In the current approach we assume that the payload is a point mass which is connected to the quadrotor by a rigid massless link. Open- and closed-loop control modes will be applied in coarse and fine phases, respectively. We are concentrating here on a control design of the planar nonlinear model of the considered system. However, the established approach and the obtained results might be a point of departure for further studies on control of the complicated underactuated system of a quadrotor that transports a suspended payload.

Original languageEnglish
Title of host publicationProceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages194-199
Number of pages6
ISBN (Electronic)9781467398596
DOIs
StatePublished - 7 Jun 2016
Event2nd International Conference on Control, Automation and Robotics, ICCAR 2016 - Hong Kong, Hong Kong
Duration: 28 Apr 201630 Apr 2016

Publication series

NameProceedings - 2016 the 2nd International Conference on Control, Automation and Robotics, ICCAR 2016

Conference

Conference2nd International Conference on Control, Automation and Robotics, ICCAR 2016
Country/TerritoryHong Kong
CityHong Kong
Period28/04/1630/04/16

Keywords

  • nonlinear model
  • planar quadrotor
  • quadrotor
  • set-point control
  • suspended load

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering
  • Computer Vision and Pattern Recognition

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