Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Vibration Analysis of the Quadcopter Carrying a Payload
Submission Author:
Renan Sanches Geronel , SP
Co-Authors:
Renan Sanches Geronel, Ruxandra Mihaela Botez, Douglas Bueno
Presenter: Renan Sanches Geronel
doi://10.26678/ABCM.COBEM2021.COB2021-0429
Abstract
Unmanned Aerial Vehicles (UAVs) have been conquering continuous importance due to their variety of applications. Most of them present an additional load attached to the UAV, such as sensors, measurement tools, and fragile loads, requiring great stability to transport safely the payload and work accurately. The interest of this article is to evaluate the impact of the vibration on the dynamic modeling of a UAV carrying a payload. External disturbances and maneuvers can create undesired vibration to components, influencing directly the system behavior and the UAV trajectory. The controller based on Sliding Mode Control is designed to guarantee a safe trajectory, while the State-Feedback Control is used to attenuate the oscillation displacement (between the UAV and its payload), when a flexible attachment is considered. Therefore, designing a robust controller can improve the UAV performance and reduce the interference on the payload and onboard components.
Keywords
Unmanned aerial vehicle, Sliding mode control, State-Feedback Control, Payload Vibration
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