Aerial transportation in windy conditions is challenging. In this paper, a pose-tracking task for a rigid body suspended by massless rigid bars and quadrotors, in presence of wind, is considered. To tackle the task, a Sliding Mode Adaptive Proportional-Integral-Derivative (SM-APID) control is designed. The proposed technique is tested through simulations and the performances are compared with a PID control.
Design of a SM-APID Control for Rigid-Body Transportation Under the Effects of Wind
Di Paola V.;Zoppi M.
2024-01-01
Abstract
Aerial transportation in windy conditions is challenging. In this paper, a pose-tracking task for a rigid body suspended by massless rigid bars and quadrotors, in presence of wind, is considered. To tackle the task, a Sliding Mode Adaptive Proportional-Integral-Derivative (SM-APID) control is designed. The proposed technique is tested through simulations and the performances are compared with a PID control.
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