| 内容提要: |
In order to improve the stability of the quadrotor in this case, we studied the influence of the relationship between the mass of the quadrotor load and the cable length.At first,this paper proposed a nonlinear dynamics two-dimensional model of quadrotor with a suspended load.Then, we develop our controller within the Model Predictive Control (MPC) framework, where set multiple constraints. Finally, four cases simulation results show that the relationship between load mass and cable length has a notable impact on the quadrotor’s stability. |