Bacheti, Vinícius Pacheco (Federal University of Espirito Santo), Villa, Daniel Khede Dourado (Federal University of Espírito Santo), Brandao, Alexandre Santos (Universidade Federal de Viçosa), Sarcinelli-Filho, Mário (Federal University of Espirito Santo)

A Load Compensation Controller for Off-The-Shelf Unmanned Aerial Vehicles

Scheduled for presentation during the Regular Session "Multirotor Design and Control II" (FrB5), Friday, June 9, 2023, 15:00−15:20, Room 466

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

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 validate the proposed method.