On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor
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 p...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-03-01
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| Series: | Designs |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2411-9660/6/2/31 |
| _version_ | 1797436108706938880 |
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| author | Renan S. Geronel Ruxandra M. Botez Douglas D. Bueno |
| author_facet | Renan S. Geronel Ruxandra M. Botez Douglas D. Bueno |
| author_sort | Renan S. Geronel |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-03-09T10:57:54Z |
| format | Article |
| id | doaj.art-1ca92bbd72994c2ea10cedab12511cfa |
| institution | Directory Open Access Journal |
| issn | 2411-9660 |
| language | English |
| last_indexed | 2024-03-09T10:57:54Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Designs |
| spelling | doaj.art-1ca92bbd72994c2ea10cedab12511cfa2023-12-01T01:28:38ZengMDPI AGDesigns2411-96602022-03-01623110.3390/designs6020031On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a QuadrotorRenan S. Geronel0Ruxandra M. Botez1Douglas D. Bueno2Mechanical Engineering Department, São Paulo State University (UNESP), Ilha Solteira, São Paulo 15385 000, BrazilSystems Engineering department, École de Technologie Supérieure (ETS), Montreal, QC H3C 1K3, CanadaMechanical Engineering Department, São Paulo State University (UNESP), Ilha Solteira, São Paulo 15385 000, BrazilUnmanned 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.https://www.mdpi.com/2411-9660/6/2/31unmanned aerial vehicleselastic attachmentpayload vibration |
| spellingShingle | Renan S. Geronel Ruxandra M. Botez Douglas D. Bueno On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor Designs unmanned aerial vehicles elastic attachment payload vibration |
| title | 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_short | 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 |
| topic | unmanned aerial vehicles elastic attachment payload vibration |
| url | https://www.mdpi.com/2411-9660/6/2/31 |
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