Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
DISTURBANCE OBSERVER OF AN UAV WITH A SUSPENDED PAYLOAD
Submission Author:
Renan Silva , São Paulo
Co-Authors:
Renan Silva, Douglas Bueno, Rodrigo Borges Santos
Presenter: Renan Silva
doi://10.26678/ABCM.COBEM2021.COB2021-0702
Abstract
Unmanned Aerial Vehicles (UAV) have been used for many applications that are dangerous to be realized by manned vehicles. They can be employed for autonomous operations and involve low costs in comparison with manned aircraft. In particular, UAVs can be used to transport different types of payloads, such as food, medical supplies, electronic devices, and others. The UAVs have attracted the interest from delivery companies mainly due to the advantages in logistics that can be achieved by a fleet of autonomous vehicles in comparison with other conventional procedures. The payload mass can be fixed in the aerial vehicle through cables and this attachment results in the coupling of the payload and UAV dynamics, which in the perspective of the UAV can be seen as disturbance forces acting on the UAV structure. The dynamics of flight is also affected by wind gusts, and because of these disturbances, the controller needs to consider these effects to ensure a safe flight in the sense of tracking the trajectories defined by the controller, and also to achieve precision positioning even under the effect of the disturbances. However, usually there is no sensor capable of measuring the disturbances forces. In this sense, it is important to design a disturbance observer to take into account the payload mass and other disturbances sources. The present paper introduces a dynamic modeling of an UAV carrying a suspended payload mass using the Euler-Lagrange approach. The controller is designed to track a desired mission path, which is represented by a trajectory defined over time. The disturbance observer is designed by an adequate choice of gains and considered by the controller to compute control forces to alleviate the disturbances effects. Numerical results are presented by considering a typical UAV through time domain simulations, and they show that the proposed approach provides interesting performance improvements for the UAV to fly following the trajectory carrying the payload mass.
Keywords
Unmanned Aerial Vehicles, Quadrotor, Computational simulation, Disturbance Observer
