Scholarlink

<p>The underactuated characteristics of a quadrotor UAV are more pronounced when it is carrying a suspended payload. The payload swing and external disturbances greatly increase the risk during flight. An online trajectory planning method for the quadrotor UAV position and its suspended payload anti-swing is proposed. The coupling relationship between the quadrotor UAV and the suspended payload is deduced based on the analysis of the three-dimensional model of the quadrotor UAV. In accordance with the UAV’s trajectory features of the quadrotor UAV trajectory, an anti-swing controller is provided that does not affect the position of the quadrotor UAV. The online trajectory planning of the quadrotor UAV with suspended payload is designed and the stability of the system is analyzed by Lyapunov function and Barbalat’s lemma. With the comparison experiments and results analysis, it is shown that the proposed method has better performance on both the accurate positioning of the quadrotor UAV and the effective suppression of the payload swing.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Online trajectory planning method based on position and anti-swing for quadrotor UAV with suspended payload

  • 期刊论文

  • 发表日期：

    2026年5月23日

查看全文
  • Bo Fan,
  • Jiahao Dong,
  • Qinghao Hong,
  • Lifan Sun

摘要

The underactuated characteristics of a quadrotor UAV are more pronounced when it is carrying a suspended payload. The payload swing and external disturbances greatly increase the risk during flight. An online trajectory planning method for the quadrotor UAV position and its suspended payload anti-swing is proposed. The coupling relationship between the quadrotor UAV and the suspended payload is deduced based on the analysis of the three-dimensional model of the quadrotor UAV. In accordance with the UAV’s trajectory features of the quadrotor UAV trajectory, an anti-swing controller is provided that does not affect the position of the quadrotor UAV. The online trajectory planning of the quadrotor UAV with suspended payload is designed and the stability of the system is analyzed by Lyapunov function and Barbalat’s lemma. With the comparison experiments and results analysis, it is shown that the proposed method has better performance on both the accurate positioning of the quadrotor UAV and the effective suppression of the payload swing.