Damping control of a quadrotor with swinging load using input shaping method

Sara Sadr; S. Ali A. Moosavian; Payam Zarafshan

doi:10.1109/ICRoM.2014.6990905

Damping control of a quadrotor with swinging load using input shaping method

Sara Sadr
, S. Ali A. Moosavian
, Payam Zarafshan

K.N. Toosi University of Technology
Department of Agro-Technology
University of Tehran

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

4 Citations (Scopus)

Abstract

This paper presents the designing and simulation of a swing reducing controller for a quadrotor with a swing load system using an input shaping theory. The input shaping controller is a feed-forward controller that is added to reduce oscillations of the swinging load by improving the damping characteristics of pendulum modes. Simulations are presented and it is shown that a significant improvement of the oscillation behavior can be achieved.

Original language	English
Title of host publication	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	227-232
Number of pages	6
ISBN (Electronic)	9781479967438
DOIs	https://doi.org/10.1109/ICRoM.2014.6990905
Publication status	Published - 2014
Externally published	Yes
Event	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 - Tehran, Iran, Islamic Republic of Duration: 15 Oct 2014 → 17 Oct 2014

Publication series

Name	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014

Conference

Conference	2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	15/10/14 → 17/10/14

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

Keywords

Dynamics Modelling
Input Shaping
Nonlinear Control
Quadrotor
Swinging load systems

Access to Document

10.1109/ICRoM.2014.6990905

Cite this

Sadr, S., Moosavian, S. A. A., & Zarafshan, P. (2014). Damping control of a quadrotor with swinging load using input shaping method. In 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 (pp. 227-232). Article 6990905 (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRoM.2014.6990905

Sadr, Sara ; Moosavian, S. Ali A. ; Zarafshan, Payam. / Damping control of a quadrotor with swinging load using input shaping method. 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 227-232 (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014).

@inproceedings{cbbc5ad5fd7d4d0e93c3092df4b59a86,

title = "Damping control of a quadrotor with swinging load using input shaping method",

abstract = "This paper presents the designing and simulation of a swing reducing controller for a quadrotor with a swing load system using an input shaping theory. The input shaping controller is a feed-forward controller that is added to reduce oscillations of the swinging load by improving the damping characteristics of pendulum modes. Simulations are presented and it is shown that a significant improvement of the oscillation behavior can be achieved.",

keywords = "Dynamics Modelling, Input Shaping, Nonlinear Control, Quadrotor, Swinging load systems",

author = "Sara Sadr and Moosavian, \{S. Ali A.\} and Payam Zarafshan",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; Conference date: 15-10-2014 Through 17-10-2014",

year = "2014",

doi = "10.1109/ICRoM.2014.6990905",

language = "English",

series = "2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "227--232",

booktitle = "2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014",

}

Sadr, S, Moosavian, SAA & Zarafshan, P 2014, Damping control of a quadrotor with swinging load using input shaping method. in 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014., 6990905, 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014, Institute of Electrical and Electronics Engineers Inc., pp. 227-232, 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014, Tehran, Iran, Islamic Republic of, 15/10/14. https://doi.org/10.1109/ICRoM.2014.6990905

Damping control of a quadrotor with swinging load using input shaping method. / Sadr, Sara; Moosavian, S. Ali A.; Zarafshan, Payam.
2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 227-232 6990905 (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014).

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

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T1 - Damping control of a quadrotor with swinging load using input shaping method

AU - Sadr, Sara

AU - Moosavian, S. Ali A.

AU - Zarafshan, Payam

PY - 2014

Y1 - 2014

N2 - This paper presents the designing and simulation of a swing reducing controller for a quadrotor with a swing load system using an input shaping theory. The input shaping controller is a feed-forward controller that is added to reduce oscillations of the swinging load by improving the damping characteristics of pendulum modes. Simulations are presented and it is shown that a significant improvement of the oscillation behavior can be achieved.

AB - This paper presents the designing and simulation of a swing reducing controller for a quadrotor with a swing load system using an input shaping theory. The input shaping controller is a feed-forward controller that is added to reduce oscillations of the swinging load by improving the damping characteristics of pendulum modes. Simulations are presented and it is shown that a significant improvement of the oscillation behavior can be achieved.

KW - Dynamics Modelling

KW - Input Shaping

KW - Nonlinear Control

KW - Quadrotor

KW - Swinging load systems

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U2 - 10.1109/ICRoM.2014.6990905

DO - 10.1109/ICRoM.2014.6990905

M3 - Conference Paper

T3 - 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014

SP - 227

EP - 232

BT - 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014

Y2 - 15 October 2014 through 17 October 2014

ER -

Sadr S, Moosavian SAA, Zarafshan P. Damping control of a quadrotor with swinging load using input shaping method. In 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 227-232. 6990905. (2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014). doi: 10.1109/ICRoM.2014.6990905

Damping control of a quadrotor with swinging load using input shaping method

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Bibliographical note

Keywords

Access to Document

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