A Practical Perspective on the Drone-With-a-Slung-Load Problem

Fateme Aghaee*, Karam Eliker, Jerome Jouffroy

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Controlling a system consisting of a drone carrying a payload with a cable is a problem of practical importance within UAV control. Contrarily to previous work, this paper investigates a control scheme for this problem where neither the deviation angles of the cable nor the mass of the load are known or measured, with an emphasis on simplicity and applicability on a wide array of available flight controllers. Our approach combines differential-algebraic considerations for motion planning and trajectory generation, together with simple controllers used for feedback. Simulation results are proposed to illustrate the potential of the approach.

Original languageEnglish
Title of host publication 2024 International Conference on Unmanned Aircraft Systems (ICUAS)
PublisherIEEE
Publication date2024
Pages899-904
ISBN (Electronic)9798350357882
DOIs
Publication statusPublished - 2024
Event2024 International Conference on Unmanned Aircraft Systems, ICUAS 2024 - Chania, Crete, Greece
Duration: 4. Jun 20247. Jun 2024

Conference

Conference2024 International Conference on Unmanned Aircraft Systems, ICUAS 2024
Country/TerritoryGreece
CityChania, Crete
Period04/06/202407/06/2024
SeriesProceedings of International Conference on Unmanned Aircraft Systems
ISSN2373-6720

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