Controller Design for Quadrotor-Slung Load System With Swing Angle Constraints Using Particle Swarm Optimization

Abstract

In this paper, the controller is designed for a quadrotor carrying a slung load with a rope. When we consider the quadrotor and load pair, there are two cases: the quadrotor carries the load, and the load is on the ground. Since the dynamics of the system are different for these two cases, they must be considered separately. Therefore, a different PID controller is designed for each case. The necessary mechanism has been created to ensure that the transitions between these two controllers are smooth. The controller coefficients are adjusted so that the swing angles of the load are minimal. IMU has been added to the load-bearing mechanism to find out what angle the load is. Also, images of the load have been obtained with the camera located under the quadrotor. The swing angles have been calculated according to the position of the load in the image. Although our physical system studies continue, both the IMU and camera models have been created and integrated into the quadrotor-slung load model. PID coefficients have been obtained using the Particle Swarm Optimization method. Tests have been carried out on different flight profiles and the results obtained are presented. © 2021 IEEE.