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Communication Dans Un Congrès Année : 2024

Design of a SM-APID Control for Rigid-Body Transportation Under the Effects of Wind

Résumé

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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Dates et versions

hal-04671076 , version 1 (13-08-2024)

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Vincenzo Di Paola, Stéphane Caro, Matteo Zoppi. Design of a SM-APID Control for Rigid-Body Transportation Under the Effects of Wind. EUCOMES 2024 9th European Conference on Mechanism Science, IFToMM - Giulio Rosati, Alessandro Gasparetto, Marco Ceccarelli, Sep 2024, Padova, Italy. pp.125-135, ⟨10.1007/978-3-031-67295-8_15⟩. ⟨hal-04671076⟩
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