On the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor

Registro completo de metadados
MetadadosDescriçãoIdioma
Autor(es): dc.contributorUniversidade Estadual Paulista (UNESP)-
Autor(es): dc.contributorÉcole de Technologie Supérieure (ETS)-
Autor(es): dc.creatorGeronel, Renan S.-
Autor(es): dc.creatorBotez, Ruxandra M.-
Autor(es): dc.creatorBueno, Douglas D.-
Data de aceite: dc.date.accessioned2025-08-21T22:06:08Z-
Data de disponibilização: dc.date.available2025-08-21T22:06:08Z-
Data de envio: dc.date.issued2023-03-01-
Data de envio: dc.date.issued2023-03-01-
Data de envio: dc.date.issued2022-04-01-
Fonte completa do material: dc.identifierhttp://dx.doi.org/10.3390/designs6020031-
Fonte completa do material: dc.identifierhttp://hdl.handle.net/11449/239869-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/11449/239869-
Descrição: dc.descriptionUnmanned aerial vehicles (UAVs) have been gaining increased importance due to their variety of applications. In some specific tasks, UAVs require the addition of payloads and onboard components, including sensors, which require great stability to provide safe and reliable responses (related to the payload characteristics, such as the temperature, pressure, vibrations and many other factors). In contrast with the suspended payloads carried by a quadrotor aircraft with a rigid attachment, an elastic attachment is designed to assess the influence of the vibration characteristics on the quadrotor and its payload. Since the payload dynamics can alter the flight performance, sensor measurement accuracy and payload integrity, an adapted sliding mode control is used to guide the quadrotor on its desired trajectory and to compensate for the payload dynamics. To reduce the need for position sensors, a reduced-dimension observer is designed to estimate the payload trajectory, as well as the external disturbance behavior. Numerical simulations are performed to demonstrate that the flexibility influences the quadrotor’s dynamics and can create residual oscillation on its payload.-
Descrição: dc.descriptionNatural Sciences and Engineering Research Council of Canada-
Descrição: dc.descriptionCoordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)-
Descrição: dc.descriptionMechanical Engineering Department São Paulo State University (UNESP), São Paulo-
Descrição: dc.descriptionSystems Engineering department École de Technologie Supérieure (ETS)-
Descrição: dc.descriptionMechanical Engineering Department São Paulo State University (UNESP), São Paulo-
Descrição: dc.descriptionCAPES: 001-
Idioma: dc.languageen-
Relação: dc.relationDesigns-
???dc.source???: dc.sourceScopus-
Palavras-chave: dc.subjectelastic attachment-
Palavras-chave: dc.subjectpayload vibration-
Palavras-chave: dc.subjectunmanned aerial vehicles-
Título: dc.titleOn the Effect of Flexibility on the Dynamics of a Suspended Payload Carried by a Quadrotor-
Tipo de arquivo: dc.typelivro digital-
Aparece nas coleções:Repositório Institucional - Unesp

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