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Modeling and control of a suspended load lifted by two aerial vehicles
KTH, School of Electrical Engineering (EES), Automatic Control.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis we discuss the problem of lifting and stabilizing a bar-shaped slungload, held by two UAVs (Unmanned Aerial Vehicles) which are connected to it throughcables. A mathematical model of the system is presented. After describing the systemdynamics, we identify a set of equilibrium poses and discuss the stability of a point inthis set. Then, the Gazebo simulator is used to develop and test a controller capableof stabilizing the system, rejecting disturbances, and following basic trajectories.

Abstract [sv]

I denna avhandling diskuterar vi problemet med att lyfta och stabilisera en stavformadhängande last, hållen av två UAV:er (obemannade luftfarkoster) vilka är anslutnatill den genom kablar. En matematisk modell av systemet presenteras. Efter attbeskriva systemdynamiken identifierar vi en uppsättning jämviktslägen och diskuterarstabiliteten i en punkt i denna uppsättning. Sedan används Gazebo-simulatorn föratt utveckla och testa en regulator med förmåga att stabilisera systemet, hanterastörningar, och följa grundläggande flygbanor.

Place, publisher, year, edition, pages
2017. , 59 p.
Series
TRITA-EE, ISSN 1653-5146 ; 2017:032
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-206174OAI: oai:DiVA.org:kth-206174DiVA: diva2:1091664
Examiners
Available from: 2017-04-27 Created: 2017-04-27 Last updated: 2017-04-27Bibliographically approved

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Electrical Engineering, Electronic Engineering, Information Engineering

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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