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Robust control of a quadrotor with a suspended payload
Thesis (PhD)--Stellenbosch University, 2020.
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| Format: | Thesis |
| Language: | English |
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Stellenbosch : Stellenbosch University
2020
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| _version_ | 1867613973224882176 |
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| access_status_str | Open Access |
| author | Taylor, Cameron Carden |
| author2 | Engelbrecht, J. A. A. |
| author_browse | Engelbrecht, J. A. A. Taylor, Cameron Carden |
| author_facet | Engelbrecht, J. A. A. Taylor, Cameron Carden |
| author_sort | Taylor, Cameron Carden |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (PhD)--Stellenbosch University, 2020. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/107858 |
| institution | Stellenbosch University (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:44:38.662Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2020 |
| publishDateRange | 2020 |
| publishDateSort | 2020 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/107858 Robust control of a quadrotor with a suspended payload Taylor, Cameron Carden Engelbrecht, J. A. A. Treurnicht, J. Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. Drone aircraft -- Stability Feedback control systems Payloads (Aerospace engineering) Rotors (Helicopters) -- Stability UCTD Thesis (PhD)--Stellenbosch University, 2020. ENGLISH ABSTRACT: This dissertation presents the design of a feedback control system for a quadrotor with a suspended payload, where the quadrotor-payload system contains significant uncertainties in the quadrotor thrust, the cable length, and the payload mass. The proposed controller provides robust stability with a guaranteed minimum stability margin for any plant in the uncertain set, and enables velocity reference tracking for the quadrotor vehicle, while adding damping to the payload swinging motion. The controller is designed using a novel modified H∞ extended loop shaping design procedure that utilises H∞ optimization and the ν-gap metric. The controller is used in a hybrid feedforward-feedback configuration whereby a robust Zero-Vibration-Derivative input shaper is used to generate shaped inputs that accomplish aggressive manoeuvres of the quadrotor, while cancelling residual oscillations of the suspended payload. The controller acts to correct deviations from the nominal trajectory, and ensures robust stability. The extended H∞ loop shaping controller is compared to a benchmark LQR controller and a standard H∞ loop shaping controller. The controller is verified in simulation using a validated simulation model of the SLADe quadrotor UAV. The results show that the new extended H∞ loop shaping controller performs significantly better in terms of payload swing suppression, and provides robust stability for up to ± 20% thrust uncertainty, ± 25% cable length uncertainty, and ± 71% payload mass uncertainty. AFRIKAANSE OPSOMMING: Hierdie proefskrif beskryf die ontwerp van ’n terugvoerbeheerstelsel vir ’n kwadrotor hommeltuig met ’n hangende vrag, waar die kwadrotor-vrag stelsel beduidende onsekerhede bevat in die stukrag van die rotors, die lengte van die kabel, en die massa van die vrag. Die voorgestelde beheerder verskaf robuuste stabiliteit met ’n gewaarborgde minimum veralgemeende stabiliteitsgrens vir enige aanleg in die onsekerheidversameling, en stel die kwadrotor in staat om snelheidsverwysings te volg terwyl dit die swaaibeweging van die hangende vrag demp. Die beheerder ontwerp word uitgevoer met ’n nuwe aangepaste uitgebreide H∞ lusvorming ontwerp prosedure wat H∞ optimisering en die νgap metriek gebruik. Die beheerder word gebruik in ’n hibriede vorentoevoerterugvoer konfigurasie waarin ’n robuuste Zero-Vibrasie-Afgeleide intreevormer gebruik word om ’n gevormde intree te genereer om aggressiewe bewegings uit te voer met die kwadrotor, terwyl die residuele vibrasies in die hangende vrag gekanselleer word. Die terugvoerbeheerder tree dan op om afwykings van die nominale verwysingstrajek teen te werk, en verseker daarby robuuste stabiliteit. The beheerder is geverifieer in simulasie met ’n gevalideerde simulasiemodel van die SLADe kwadrotor onbemande hommeltuig. Die resultate wys dat die nuwe uitgebreide H∞ lusvorming beheerder beduidend beter vaar in terme van die onderdrukking van die vrag se swaaibeweging, en dat dit robuuste stabiliteit verseker vir tot ± 20% stukrag onsekerheid, tot ± 25% onsekerheid in die lengte van die kabel, en tot ± 71% onsekerheid in die massa van die vrag. Doctoral 2020-02-25T12:57:11Z 2020-04-28T12:06:29Z 2020-02-25T12:57:11Z 2020-04-28T12:06:29Z 2020-03 Thesis http://hdl.handle.net/10019.1/107858 en Stellenbosch University xxvii, 206 leaves : illustrations (some color) application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Drone aircraft -- Stability Feedback control systems Payloads (Aerospace engineering) Rotors (Helicopters) -- Stability UCTD Taylor, Cameron Carden Robust control of a quadrotor with a suspended payload |
| title | Robust control of a quadrotor with a suspended payload |
| title_full | Robust control of a quadrotor with a suspended payload |
| title_fullStr | Robust control of a quadrotor with a suspended payload |
| title_full_unstemmed | Robust control of a quadrotor with a suspended payload |
| title_short | Robust control of a quadrotor with a suspended payload |
| title_sort | robust control of a quadrotor with a suspended payload |
| topic | Drone aircraft -- Stability Feedback control systems Payloads (Aerospace engineering) Rotors (Helicopters) -- Stability UCTD |
| url | http://hdl.handle.net/10019.1/107858 |
| work_keys_str_mv | AT taylorcameroncarden robustcontrolofaquadrotorwithasuspendedpayload |