On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor
Autor(a) principal: | |
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Data de Publicação: | 2022 |
Outros Autores: | , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://dx.doi.org/10.3390/designs6020031 http://hdl.handle.net/11449/239869 |
Resumo: | Unmanned aerial vehicles (UAVs) have been gaining increased importance due to their variety of applications. In some specific tasks, UAVs require the addition of payloads and onboard components, including sensors, which require great stability to provide safe and reliable responses (related to the payload characteristics, such as the temperature, pressure, vibrations and many other factors). In contrast with the suspended payloads carried by a quadrotor aircraft with a rigid attachment, an elastic attachment is designed to assess the influence of the vibration characteristics on the quadrotor and its payload. Since the payload dynamics can alter the flight performance, sensor measurement accuracy and payload integrity, an adapted sliding mode control is used to guide the quadrotor on its desired trajectory and to compensate for the payload dynamics. To reduce the need for position sensors, a reduced-dimension observer is designed to estimate the payload trajectory, as well as the external disturbance behavior. Numerical simulations are performed to demonstrate that the flexibility influences the quadrotor’s dynamics and can create residual oscillation on its payload. |
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Repositório Institucional da UNESP |
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On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotorelastic attachmentpayload vibrationunmanned aerial vehiclesUnmanned aerial vehicles (UAVs) have been gaining increased importance due to their variety of applications. In some specific tasks, UAVs require the addition of payloads and onboard components, including sensors, which require great stability to provide safe and reliable responses (related to the payload characteristics, such as the temperature, pressure, vibrations and many other factors). In contrast with the suspended payloads carried by a quadrotor aircraft with a rigid attachment, an elastic attachment is designed to assess the influence of the vibration characteristics on the quadrotor and its payload. Since the payload dynamics can alter the flight performance, sensor measurement accuracy and payload integrity, an adapted sliding mode control is used to guide the quadrotor on its desired trajectory and to compensate for the payload dynamics. To reduce the need for position sensors, a reduced-dimension observer is designed to estimate the payload trajectory, as well as the external disturbance behavior. Numerical simulations are performed to demonstrate that the flexibility influences the quadrotor’s dynamics and can create residual oscillation on its payload.Natural Sciences and Engineering Research Council of CanadaCoordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Mechanical Engineering Department São Paulo State University (UNESP), São PauloSystems Engineering department École de Technologie Supérieure (ETS)Mechanical Engineering Department São Paulo State University (UNESP), São PauloCAPES: 001Universidade Estadual Paulista (UNESP)École de Technologie Supérieure (ETS)Geronel, Renan S. [UNESP]Botez, Ruxandra M.Bueno, Douglas D. [UNESP]2023-03-01T19:51:08Z2023-03-01T19:51:08Z2022-04-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://dx.doi.org/10.3390/designs6020031Designs, v. 6, n. 2, 2022.2411-9660http://hdl.handle.net/11449/23986910.3390/designs60200312-s2.0-85128099735Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengDesignsinfo:eu-repo/semantics/openAccess2023-03-01T19:51:08Zoai:repositorio.unesp.br:11449/239869Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462023-03-01T19:51:08Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor |
title |
On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor |
spellingShingle |
On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor Geronel, Renan S. [UNESP] elastic attachment payload vibration unmanned aerial vehicles |
title_short |
On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor |
title_full |
On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor |
title_fullStr |
On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor |
title_full_unstemmed |
On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor |
title_sort |
On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor |
author |
Geronel, Renan S. [UNESP] |
author_facet |
Geronel, Renan S. [UNESP] Botez, Ruxandra M. Bueno, Douglas D. [UNESP] |
author_role |
author |
author2 |
Botez, Ruxandra M. Bueno, Douglas D. [UNESP] |
author2_role |
author author |
dc.contributor.none.fl_str_mv |
Universidade Estadual Paulista (UNESP) École de Technologie Supérieure (ETS) |
dc.contributor.author.fl_str_mv |
Geronel, Renan S. [UNESP] Botez, Ruxandra M. Bueno, Douglas D. [UNESP] |
dc.subject.por.fl_str_mv |
elastic attachment payload vibration unmanned aerial vehicles |
topic |
elastic attachment payload vibration unmanned aerial vehicles |
description |
Unmanned aerial vehicles (UAVs) have been gaining increased importance due to their variety of applications. In some specific tasks, UAVs require the addition of payloads and onboard components, including sensors, which require great stability to provide safe and reliable responses (related to the payload characteristics, such as the temperature, pressure, vibrations and many other factors). In contrast with the suspended payloads carried by a quadrotor aircraft with a rigid attachment, an elastic attachment is designed to assess the influence of the vibration characteristics on the quadrotor and its payload. Since the payload dynamics can alter the flight performance, sensor measurement accuracy and payload integrity, an adapted sliding mode control is used to guide the quadrotor on its desired trajectory and to compensate for the payload dynamics. To reduce the need for position sensors, a reduced-dimension observer is designed to estimate the payload trajectory, as well as the external disturbance behavior. Numerical simulations are performed to demonstrate that the flexibility influences the quadrotor’s dynamics and can create residual oscillation on its payload. |
publishDate |
2022 |
dc.date.none.fl_str_mv |
2022-04-01 2023-03-01T19:51:08Z 2023-03-01T19:51:08Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://dx.doi.org/10.3390/designs6020031 Designs, v. 6, n. 2, 2022. 2411-9660 http://hdl.handle.net/11449/239869 10.3390/designs6020031 2-s2.0-85128099735 |
url |
http://dx.doi.org/10.3390/designs6020031 http://hdl.handle.net/11449/239869 |
identifier_str_mv |
Designs, v. 6, n. 2, 2022. 2411-9660 10.3390/designs6020031 2-s2.0-85128099735 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Designs |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.source.none.fl_str_mv |
Scopus reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
institution |
UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
repository.name.fl_str_mv |
Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
repository.mail.fl_str_mv |
|
_version_ |
1792962286937178112 |