2-D Dynamic Modeling and Simulation of a Quadrotor Transporting a Cable-Suspended-Payload with Stochastic Forces

The purpose of this paper is 2-D dynamic modeling of a quadrotor transporting cable-suspended payload with stochastic forces. To this end, the mathematical modeling is performed based on analytical and vector approaches. Since, in some situation, we deal with the payloads which can generate stochastic forces during motion such as fluid sloshing in half-filled tanks, the innovation of this work is modeling these uncertainties and considering them in the dynamics of the whole system. For improving the model to be able to predict the physics of the system more precisely, the cable’s inertia is considered and it is assumed that the connection point of cable and quadrotor is not located on the center of mass of flying vehicle which in addition to forces, leads to produce torques around center of mass of quadrotor. In the next step by performing numerical simulation, the validity of the nonlinear model is investigated. At the end, the conclusion of this work is expressed.

کلیدواژه ها:

Dynamic Modeling ، Quadrotor ، Stochastic Forces ، Lagrangian.