Sliding mode-based control of a UAV quadrotor for suppressing the cable-suspended payload vibration

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Abstract

This paper addresses the problem of damping vibrations of a cable-suspended payload during positioning of the quadrotor. A nonlinear model is derived for the coupled quadrotor-pendulum system in the X-Z plane using Euler-Lagrange formulation. Sliding mode control (SMC) is used for horizontal positioning and payload vibration damping, while a feedback linearizing controller is used for both altitude and attitude control. The SMC surface parameters are determined by placing the eigenvalues of the linearized system at a desired position. The simulation results show the effectiveness of the proposed control method in minimizing payload vibration by comparing it with a partial feedback linearizing controller and a ZVDD input shaper.

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Kusznir, T., & Smoczek, J. (2020). Sliding mode-based control of a UAV quadrotor for suppressing the cable-suspended payload vibration. Journal of Control Science and Engineering, 2020. https://doi.org/10.1155/2020/5058039

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