Design and Simulation of a Control System for a Quadcopter with a Safety Harness

摘要

This paper presents a control scheme and simulation results for the quadrotor with a safety harness to prevent crash physically. We propose the mechanical system consisted of the quadrotor and the 2-link passive joint arm as the safety harness. Physical interaction, however, occurs between the safety harness and the fixed object and unstabilize the quadrotor. In order to solve this problem, we design the control scheme including Integral Backstepping Control and Admittance Filter technique. The simulations have been carried out in four case studies on the virtual robot experimentation platform (V-REP). The simulation results show the possibility that the safety harness on the quadrotor performs as the protective equipment.