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Geometric Control of a Quadrotor UAV Transporting a Payload Connected via Flexible Cable
저자
Farhad A. Goodarzi, 이대원, 이태영
학술지명
International Journal of Control, Automation, and Systems
출판/발행연도
2015
주제
요약
본 연구는 유연 케이블을 통해 연결된 페이로드를 운반하는 쿼드로터 무인 항공기에 대한 완전 모델의 운동 방정식을 유도하고, 기하학적 비선형 제어 시스템을 제시하여 쿼드로터의 위치를 안정화하고 케이블 링크를 수직 방향으로 정렬합니다. 시뮬레이션 및 실험 결과는 유도된 내용의 정확성을 확인하며, 케이블의 큰 변형을 포함하는 적극적인 하중 운송에 유용합니다.
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