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Load transportation with an elastic cable: Modeling and control

Heerdt, Niels ter (2023) Load transportation with an elastic cable: Modeling and control.

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Abstract:In this paper, research was done to see how cable elasticity affects the behaviour of a quadrotor Unmanned Aerial Vehicles (UAVs) carrying a slung load. The research consists of two main steps. In the first step, a non-linear model was derived using the Newton-Euler method. This resulted in the rotational and translational equations of motion of the system. The model was then simulated and validated using Simulink. The second step was to design a controller for the UAV. This was done by finding the equilibrium for hovering, which is used as a basis for the linearization of the non-linear system. The linearization resulted in the Jacobian matrix A and input matrix B, these were validated using the linmod function. With this A and B matrix, an LQR controller for the system was designed and implemented in Simulink. The controller was the tested by letting it track a certain position and a circular path.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering BSc (56953)
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