Trajectory Tracking of a Quadcopter with an Attached Payload Mass under External Disturbances

R. Geronel, D. Bueno
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引用次数: 1

Abstract

Unmanned Aerial Vehicles (UAVs) present the ability to carry different onboard systems, such as sensors, cameras, measurement tools. Especially under unexpected scenarios, such as the pandemic, the need for a cheap, fast and feasible solution makes the quadcopter a promising opportunity to overcome these challenges. Also, depending on the required mission, quadcopters ensures not only follow the desired trajectory but also guarantee the stability of their components. A robust controller is required to maintain the quadcopter in its initial path even under external disturbances as well as not inferring the quality of the measurement responses. In this context, the present article introduces the performance analysis of three controllers designed for a quadcopter carrying a payload under external disturbances. The results show that the second-order Sliding Mode Controller (SO-SMC) exhibits a more robust response against external disturbances and trajectory adherence in comparison to the First-Order SMC (FO-SMC) and Proportional Integral Derivative (PID).
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外部扰动下带载荷质量的四轴飞行器轨迹跟踪
无人驾驶飞行器(uav)能够携带不同的机载系统,如传感器、相机、测量工具。特别是在突发情况下,如大流行,需要廉价、快速和可行的解决方案,这使得四轴飞行器成为克服这些挑战的一个有希望的机会。此外,根据所需的任务,四轴飞行器不仅要确保遵循所需的轨迹,还要保证其组件的稳定性。一个鲁棒控制器需要保持四轴飞行器在其初始路径,即使在外部干扰以及不推断测量响应的质量。在这种情况下,本文介绍了在外部干扰下为携带有效载荷的四轴飞行器设计的三种控制器的性能分析。结果表明,与一阶滑模控制器(FO-SMC)和比例积分导数控制器(PID)相比,二阶滑模控制器(SO-SMC)对外部干扰和轨迹粘附性具有更强的鲁棒性。
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