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

6卷第5期

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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
2025年6卷第5期页码：23-28
纸质出版日期：2025-05-19
DOI：10.47297/taposatWSP2633-456905.20250605
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(2025). Research on Anti-swing Control of UAV Hanging System Based on Fuzzy PID. 科技理论与实践（英文版）, 6(5), 23-28.

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.
(2025). Research on Anti-swing Control of UAV Hanging System Based on Fuzzy PID. 科技理论与实践（英文版）, 6(5), 23-28. DOI： 10.47297/taposatWSP2633-456905.20250605.

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

K. Sreenath, T. Lee and V. Kumar, "Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load," 52nd IEEE Conference on Decision and Control, Firenze, Italy, 2013, pp. 2269 - 2274 .

Tang S, Sreenath K, Kumar V. Multi-robot Trajectory Generation for an Aerial Payload Transport System[M]. Robotics Research, 2020.

Dai S, Lee T, Bernstein D. Adaptive control of a quadrotor UAV transporting a cable-suspended load with unknown mass[C]. " In 2014 53rd IEEE International Conference on Decision and Control (CDC), Los Angeles, CA, USA, 2014: 6149-6154.

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. 

XIAN Bin, ZHANG Xu, YANG Sen. Design of Nonlinear Control Method for UAV Suspension Flight. Control Theory & Applications, 2016, 33(03): 273-279.

WANG Shizhang, XIAN Bin, YANG Sen. Design of Swing Reduction Control for UAV Suspension Flight System. Acta Automatica Sinica, 2018, 44(10): 1771-1780.

XIAN Bin, ZHANG Shijing, HAN Xiaowei, CAI Jiaming, WANG Ling. Trajectory Planning of UAV Suspended Load System Based on Reinforcement Learning. Journal of Jilin University (Engineering and Technology Edition), 2021, 51(06): 2259-2267.

FAN Yunsheng, CHEN Xinyu, ZHAO Yongsheng, et al. Nonlinear Control of Quadrotor Suspension Flight System Based on Extended State Observer[J]. Acta Automatica Sinica, 2023, 49(08): 1758-1770.

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