Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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LQG/LTR-PID based Controller Design of UAV Slung-Load Transportation System

LQG/LTR과 PID 기반의 무인항공기 슬렁-로드 수송 시스템의 제어기 설계

  • Lee, Hae-In (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Yoo, Dong-Wan (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Lee, Byung-Yoon (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Moon, Gun-Hee (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Lee, Dong-Yeon (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Tahk, Min-Jea (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology)
  • 이해인 (한국과학기술원 항공우주공학과) ;
  • 유동완 (한국과학기술원 항공우주공학과) ;
  • 이병윤 (한국과학기술원 항공우주공학과) ;
  • 문건희 (한국과학기술원 항공우주공학과) ;
  • 이동연 (한국과학기술원 항공우주공학과) ;
  • 탁민제 (한국과학기술원 항공우주공학과)
  • Received : 2014.08.30
  • Accepted : 2014.09.22
  • Published : 2014.12.01
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Abstract

This paper copes with control design for unmanned aerial vehicle transportation system. Moving pendulum dynamics of slung-load system is derived using two methods: Udwadia-Kalaba equation and Newtonian approach. PID controller is applied to Udwadia-Kalaba equation model for structural consistency and linear quadratic Gaussian / Loop Transfer Recovery (LQG/LTR) technique is employed for Newtonian model with minimal state-space realization. Characteristics of PID and LQG/LTR controller are compared, and two controllers are combined to compensate the drawbacks of each other. Numerical simulation is set for two cases and conducted to evaluate performance of designed controllers. The result proves that combination of LQG/LTR and PID control performs stable and robust.

Keywords

References

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