Mathematical Model of Damping of UAV Oscillations in the Cargo Delivery Problem

Currently, the use of unmanned vehicles for the delivery of goods is becoming a trend in many areas of human activity. At the same time, it is necessary to solve the problem of the integrity of the cargo because of its possible fluctuations. The paper deals with the problem of delivering cargo attached to a 4-motor UAV on a rigid cable. A control system is needed to achieve the UAV equilibrium position that can compensate for significant mismatches in the XY coordinate plane. A combination of two control algorithms is proposed for solving this problem, one of which provides a given position in the horizontal plane at small mismatch angles and the second at large mismatch angles. The first controller uses the PID controller algorithm with the corresponding optimal setting of its parameters, and the second one uses the bang-bang control scheme. An additional controller is used to coordinate these controllers, which ensures their timely switching. Some simulation is also proposed.