Estabilidad de cuadrotores con carga suspendida
This research presents the development and experimental validation of a control technique for the translation and orientation of a quadrotor. Such a vehicle is connected to a load in the center of mass by means of a rigid cable, giving rise to a suspended load. First, a mathematical model that descr...
| Autor: | |
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| Tipo de recurso: | tesis de maestría |
| Estado: | Versión aceptada para publicación |
| Fecha de publicación: | 2018 |
| País: | México |
| Institución: | Instituto Nacional de Astrofísica, Óptica y Electrónica |
| Repositorio: | Repositorio Institucional del INAOE |
| Idioma: | español |
| OAI Identifier: | oai:inaoe.repositorioinstitucional.mx:1009/2034 |
| Acceso en línea: | http://inaoe.repositorioinstitucional.mx/jspui/handle/1009/2034 |
| Access Level: | acceso abierto |
| Palabra clave: | info:eu-repo/classification/Inspec/Optimization info:eu-repo/classification/Inspec/Non-linear control info:eu-repo/classification/Inspec/Dynamic systems info:eu-repo/classification/cti/1 info:eu-repo/classification/cti/25 info:eu-repo/classification/cti/2512 |
| Sumario: | This research presents the development and experimental validation of a control technique for the translation and orientation of a quadrotor. Such a vehicle is connected to a load in the center of mass by means of a rigid cable, giving rise to a suspended load. First, a mathematical model that describes the dynamics of the aircraft is presented. Second, the load model is presented to perform a system coupling between the quadrotor and the suspended load. From the model that describes the dynamics of the system (quadrotor-load) the states to control and the inputs to the system are established, which provides the possibility of controlling the orientation and position of the vehicle. Subsequently, a linearization is carried out to develop a control law under the optimal control technique, which allows the quadruped to fly autonomously, transporting a suspended load. Finally, a set of tests was carried out to validate the quadrotor model with load and the proposed controller. |
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