Visual servo based anti-swing control method for quadrotor UAV with a cable-suspended load
The swing of the load during the quadrotor hanging flight will significantly affect the maneuverability and stability of the UAV,and the movement of the UAV will cause load oscillation,which seriously threatens the safety of the control system.To solve the problem of high swing frequency of hanging load during the transition process of UAV from takeoff to tracking time varying expected trajectory,especially the arc trajectory,a three-closed-loop trajectory tracking and load anti-swing control method based on visual servo was designed.By correcting the expected attitude Angle command,the influence of load swing on UAV was reduced.An analysis was conducted on different hanging load masses and sudden changes in load mass.Simulation and flight experiment results show that the anti-pendulum control strategy can not only effectively reduce the swing frequency of the hanging load,but also enable the UAV to smoothly track the desired flight path.
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