Modeling and stabilization of a cable-driven parallel platform suspended by an airship

In this work, the modeling and control of a heavy-lift airship carrying a payload through a cable driven parallel manipulator were investigated. The vertical take-off and landing capabilities of the airships give them an additional advantage over other means of freight transport. This crane airship will operate as a mobile cable robot. However, during loading and unloading, the airship is very sensitive to wind gusts. Its motion will have a significant inertial impact on the load. In this study we will try to present a strategy to stabilize the load in the presence of a sudden shift in the airship. The dynamic model of the system is then developed taking into account the airship motion which was considered as a disturbance. This model is used to design an anti sway controller that reduces the effect of payload pendulation while respecting constraints on cables tension. Theoretical results are discussed in this paper and computer simulation are presented.