Research on Anti-swing Control of UAV Hanging System Based on Fuzzy PID

Wangjian Che; Xinwei Gao; Hao Zhang; Zhaohui Liu; Kaikai Song

doi:10.47297/taposatWSP2633-456905.20250605

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Research on Anti-swing Control of UAV Hanging System Based on Fuzzy PID

Volume 6, Issue 5

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Research on Anti-swing Control of UAV Hanging System Based on Fuzzy PID
Research on Anti-swing Control of UAV Hanging System Based on Fuzzy PID
Gansu Forestry Vocational Technical University, Tianshui, Gansu, 741020
Vol. 6, Issue 5, Pages: 23-28(2025)
Published：19 May 2025
DOI：10.47297/taposatWSP2633-456905.20250605
Accepted：

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Che Wangjian,Gao Xinwei,Zhang Hao,et al.Research on Anti-swing Control of UAV Hanging System Based on Fuzzy PID[J].Theory and Practice of Science and Technology,2025,06(05):23-28.
DOI：

Che Wangjian,Gao Xinwei,Zhang Hao,et al.Research on Anti-swing Control of UAV Hanging System Based on Fuzzy PID[J].Theory and Practice of Science and Technology,2025,06(05):23-28. DOI： 10.47297/taposatWSP2633-456905.20250605.

摘要

Abstract

To address the issues of trajectory tracking and load swing suppression in quadrotor UAV suspension systems

a three-dimensional mathematical model of the quadrotor UAV hanging system is established on the basis of the quadrotor UAV model and take into account the effects of the suspension load. The pendulum Angle controller is designed

and the outputs of the controller is regarded as the control compensation of the horizontal position of the UAV

and the control expectation of the roll Angle and pitch Angle of the UAV is solved

so as to realize the decoupling control under the constraint of the underdrive

and then the whole control system is divided into three subsystems of position

attitude and swing Angle

and the eight-channel control system. Considering the limitations of PID control in parameter tuning

a fuzzy PID controller is designed to adjust PID parameters online in real-time for better control. Finally

we demonstrate the effectiveness of the fuzzy PID controller for trajectory tracking and swing-angle suppression using simulations.

关键词

Keywords

references

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Wang H, Huang Y, Xu C. ADRC methodology for a quadrotor UAV transporting hanged payload[C]. Ningbo, China: "2016 IEEE International Conference on Information and Automation (ICIA), 2016: 1641-1646. 

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