Dynamics modeling and analysis for unmanned quadrotor transportation systems with double-pendulum swing effects
文献类型：会议论文
| 作者 | Liang X(梁潇)1,2; Lin H(林河)1; Fang YC(方勇纯)1; Zhang P(张鹏)1 ; Li, Chenping1; Zhao XG(赵新刚)2
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| 出版日期 | 2019 |
| 会议日期 | July 3-5, 2019 |
| 会议地点 | Osaka, Japan |
| 页码 | 628-633 |
| 英文摘要 | Due to the double-pendulum phenomenon in practical applications of the quadrotor transportation systems, most existing control methods based on simplified single-pendulums are no longer applicable. To achieve simultaneous quadrotor positioning control and swing elimination for the hook and the payload, an accurate system model is of great significance. Specifically, the dynamic equation of the plant is obtained by Lagrange's modeling method. The main characteristics of the system is then analyzed based on the derived model. Numerical simulations for the two control schemes are presented to reveal the characteristics of the unmanned quadrotor transportation systems. |
| 产权排序 | 1 |
| 会议录 | 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-0064-7 |
| WOS记录号 | WOS:000557246500107 |
| 源URL | [http://ir.sia.cn/handle/173321/25779]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Fang YC(方勇纯) |
| 作者单位 | 1.Institute of Robotics and Automation Information System, College of Artificial Intelligence, Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Liang X,Lin H,Fang YC,et al. Dynamics modeling and analysis for unmanned quadrotor transportation systems with double-pendulum swing effects[C]. 见:. Osaka, Japan. July 3-5, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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