Vibration control of unmanned aerial vehicle with suspended load using the concept of differential flatness

Oladapo Ogunbodede; Rei Yoshinaga; Tarunraj Singh

doi:10.23919/acc.2019.8815137

Vibration control of unmanned aerial vehicle with suspended load using the concept of differential flatness

Oladapo Ogunbodede
, Rei Yoshinaga
, Tarunraj Singh

Department of Mechanical and Aerospace Engineering

SUNY Buffalo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

There are various scenarios where Unmanned Aerial Vehicles are required to carry suspended loads. The most common of these scenarios include; military deployments, tree logging, fire fighting, package delivery, sensor survey (e.g. Magnetometer survey of the earth's magnetic field) and aerial side trimming. This work is aimed at obtaining a rest to rest trajectory for a UAV suspended load such that the load vibration is minimized. The 2D-model of the Quadcopter is used. The result from differential flatness is compared with that obtained from a closed loop control with input shaping. Based on the integral of the absolute value of the α swing rate of the pendulum, the three methods are compared and inferences are drawn.

Original language	English
Title of host publication	2019 American Control Conference, ACC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4268-4273
Number of pages	6
ISBN (Electronic)	9781538679265
DOIs	https://doi.org/10.23919/acc.2019.8815137
State	Published - Jul 2019
Event	2019 American Control Conference, ACC 2019 - Philadelphia, United States Duration: Jul 10 2019 → Jul 12 2019

Publication series

Name	Proceedings of the American Control Conference
Volume	2019-July
ISSN (Print)	0743-1619

Conference

Conference	2019 American Control Conference, ACC 2019
Country/Territory	United States
City	Philadelphia
Period	07/10/19 → 07/12/19

Access to Document

10.23919/acc.2019.8815137

Cite this

Ogunbodede, O., Yoshinaga, R., & Singh, T. (2019). Vibration control of unmanned aerial vehicle with suspended load using the concept of differential flatness. In 2019 American Control Conference, ACC 2019 (pp. 4268-4273). Article 8815137 (Proceedings of the American Control Conference; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/acc.2019.8815137

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title = "Vibration control of unmanned aerial vehicle with suspended load using the concept of differential flatness",

abstract = "There are various scenarios where Unmanned Aerial Vehicles are required to carry suspended loads. The most common of these scenarios include; military deployments, tree logging, fire fighting, package delivery, sensor survey (e.g. Magnetometer survey of the earth's magnetic field) and aerial side trimming. This work is aimed at obtaining a rest to rest trajectory for a UAV suspended load such that the load vibration is minimized. The 2D-model of the Quadcopter is used. The result from differential flatness is compared with that obtained from a closed loop control with input shaping. Based on the integral of the absolute value of the α swing rate of the pendulum, the three methods are compared and inferences are drawn.",

author = "Oladapo Ogunbodede and Rei Yoshinaga and Tarunraj Singh",

note = "Publisher Copyright: {\textcopyright} 2019 American Automatic Control Council.; 2019 American Control Conference, ACC 2019 ; Conference date: 10-07-2019 Through 12-07-2019",

year = "2019",

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doi = "10.23919/acc.2019.8815137",

language = "English",

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Ogunbodede, O, Yoshinaga, R & Singh, T 2019, Vibration control of unmanned aerial vehicle with suspended load using the concept of differential flatness. in 2019 American Control Conference, ACC 2019., 8815137, Proceedings of the American Control Conference, vol. 2019-July, Institute of Electrical and Electronics Engineers Inc., pp. 4268-4273, 2019 American Control Conference, ACC 2019, Philadelphia, United States, 07/10/19. https://doi.org/10.23919/acc.2019.8815137

Vibration control of unmanned aerial vehicle with suspended load using the concept of differential flatness. / Ogunbodede, Oladapo; Yoshinaga, Rei; Singh, Tarunraj.
2019 American Control Conference, ACC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 4268-4273 8815137 (Proceedings of the American Control Conference; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - There are various scenarios where Unmanned Aerial Vehicles are required to carry suspended loads. The most common of these scenarios include; military deployments, tree logging, fire fighting, package delivery, sensor survey (e.g. Magnetometer survey of the earth's magnetic field) and aerial side trimming. This work is aimed at obtaining a rest to rest trajectory for a UAV suspended load such that the load vibration is minimized. The 2D-model of the Quadcopter is used. The result from differential flatness is compared with that obtained from a closed loop control with input shaping. Based on the integral of the absolute value of the α swing rate of the pendulum, the three methods are compared and inferences are drawn.

AB - There are various scenarios where Unmanned Aerial Vehicles are required to carry suspended loads. The most common of these scenarios include; military deployments, tree logging, fire fighting, package delivery, sensor survey (e.g. Magnetometer survey of the earth's magnetic field) and aerial side trimming. This work is aimed at obtaining a rest to rest trajectory for a UAV suspended load such that the load vibration is minimized. The 2D-model of the Quadcopter is used. The result from differential flatness is compared with that obtained from a closed loop control with input shaping. Based on the integral of the absolute value of the α swing rate of the pendulum, the three methods are compared and inferences are drawn.

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ER -

Vibration control of unmanned aerial vehicle with suspended load using the concept of differential flatness

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