Damping oscillation of suspended payload by up and down motion of the pivot base time delay algorithms for UAV applications

Matěj Kuře (1) , Jaroslav Busek (1) , Tomas Vyhlidal (1) , Silviu-Iulian Niculescu (2, 3)

1 CTU - Czech Technical University in Prague
2 L2S - Laboratoire des signaux et systèmes
3 DISCO - Dynamical Interconnected Systems in COmplex Environments

A case study problem of damping oscillations of a pendulum by moving a pivot in vertical direction is presented. The motivation for solving this task comes from a broader research on designing advanced control algorithms for Unmanned Aerial Vehicles (UAVs) carrying a suspended payload. First, a nonlinear model for vertical motion of a quadcopter carrying a payload is derived and simplified to a nonlinear pendulum-like model. The main result is in deriving a nonlinear time-delay control law allowing to predefine a damping factor of the oscillations. Note that the problem at hand cannot be solved by a linear controller, as the oscillatory mode is not controllable once the model is linearised. The control law is then extended from pendulum to the quadcopter model considering an outer loop to control the horizontal motion. The theoretical results are then validated by simulations.

Domains: Automatic Control Engineering

Matěj Kuře, Jaroslav Busek, Tomas Vyhlidal, Silviu-Iulian Niculescu. Damping oscillation of suspended payload by up and down motion of the pivot base time delay algorithms for UAV applications. IFAC 2019 - 7th IFAC Symposium on System Structure and Control and 15th IFAC workshop on time-delay systems, Islam Boussaada; Y Bouzidi; A Quadrat, Sep 2019, Sinaia, Romania. ⟨10.1016/j.ifacol.2019.12.217⟩. ⟨hal-02329305⟩