Modeling of a Micro UAVwith Slung Payload
Ying Feng, Camille Alain Rabbath, Chun‐Yi Su · 2014
In this chapter, the mathematical modeling and simulation of the micro UAV with a payload is derived. When the load is slung underneath the UAVs by cable, the flight dynamics of the UAVs will be altered, which makes the stability of the UAVs disturbed. The unstable oscillation may occur to degrade the performance of the UAVs, and the accurate placement of the load will be affected. Unlike the external disturbance, the negative effects are related to the characteristics of the UAV and the payload. In order to make the UAVs have the ability to adopt the change of the system dynamics and reduce the effects caused by the swing of the load, one modeling method of micro UAVs with single slung payload is addressed. The slung payload is treated as a pendulum-like mass point, and the coupling factors between the UAVs and the payload are considered in the Lagrangian formulation. The conducted model can be used to estimate the Y. Feng ( ) • C.A. Rabbath • C.-Y. Su Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, Canada e-mail: [email protected]; [email protected]; [email protected] K.P. Valavanis, G.J. Vachtsevanos (eds.), Handbook of Unmanned Aerial Vehicles, DOI 10.1007/978-90-481-9707-1 108, © Springer Science+Business Media Dordrecht 2015 1257