Suspended load path tracking by a tilt-rotor UAV

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dc.creatorBrenner Santana Rego
dc.creatorGuilherme Vianna Raffo
dc.date.accessioned2025-03-24T15:18:07Z
dc.date.accessioned2025-09-09T00:28:45Z
dc.date.available2025-03-24T15:18:07Z
dc.date.issued2016
dc.identifier.doihttps://doi.org/10.1016/j.ifacol.2016.12.220
dc.identifier.urihttps://hdl.handle.net/1843/80853
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subjectEngenharia elétrica
dc.subject.otherTilt-rotor UAV Load Transportation Path Tracking Control State Estimation
dc.titleSuspended load path tracking by a tilt-rotor UAV
dc.typeArtigo de evento
local.citation.epage234
local.citation.spage229
local.description.resumoThis paper deals with the load transportation problem by a tilt-rotor unmanned aerial vehicle. Most approaches address the subject by formulating the system dynamics from the UAV's point of view, with the load's behavior described with respect to it. Difficulties arise if control tasks are given for the load, since the suspended load coordinates do not appear explicitly in the mathematical formulation. A novel approach is proposed, based on the formulation of the system dynamics using position and orientation of the load as generalized coordinates. The equations of motion are developed in detail, yielding a highly coupled state-space representation. It is shown that linear techniques are sufficient for path tracking of the load at low accelerations, even when subject to external disturbances and incomplete, noisy information about the state vector is available. Simulation results are presented in order to validate the proposed approach.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://www.sciencedirect.com/science/article/pii/S2405896316328920

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