A Load Compensation Controller for Off-the-shelf Unmanned Aerial Vehicles
Vinícius Pacheco Bacheti, Daniel Khéde Dourado Villa, Alexandre Santos Brandao, Mário Sarcinelli-Filho · 2023
This paper addresses the problem of controlling a system composed of a unmanned aerial vehicle and a payload attached to it via a cable, while compensating for the payload effects on the drone. This work considers that many off-the-shelf UAVs have their own low-level controller which the user cannot access, and attempts to merge the classical approach of modeling a drone-mass system with controllers previously developed for use with drones equipped with low-level controllers. In order to test such an approach the robot Anafi, from Parrot Drones SAS, was used with a mass attached to it. The experiments show a consistent reduction on navigation errors, which helps validate the proposed method.