摘要
主要考虑了四旋翼无人机(Unmanned aerial vehicle, UAV)吊挂飞行系统的位置控制及负载摆动抑制的设计问题.在存在欠驱动特性以及未知系统参数的约束下,本文基于能量法设计了一种非线性控制策略,实现了对无人机位置的精确控制和飞行过程中负载摆动的快速抑制.基于Lyapunov方法的稳定性分析证明了闭环系统的稳定性,位置误差的收敛及摆动的抑制.实验结果表明本文提出的控制策略取得了较好的控制效果.
In this paper, position control and load swing suppression design for a quadrotor unmanned aerial vehicle（UAV） with a slung-load are investigated. Under the constraints of underactuated feature and unknown system parameters,a nonlinear control strategy is designed based on energy method, which achieves accurate position control of the UAV as well as payload swing fast suppression during the flight. The stability of the closed-loop system, convergence of position error and payload swing suppression are proved by Lyapunov-based stability analysis method. Experimental results show that the proposed control strategy has better control performance.
作者
王诗章
鲜斌
杨森
WANG Shi-Zhang;XIAN Bin;YANG Sen(School of Electrical and Information Engineering,Tianjin University,Tianjin 30007)
出处
《自动化学报》
EI
CSCD
北大核心
2018年第10期1771-1780,共10页
Acta Automatica Sinica
基金
国家自然科学基金(91748121
90916004
60804004)
天津市应用基础与前沿技术研究计划重点项目(14JCZDJC31900)
天津市科技支撑计划重点项目(15ZCZDGX00810)资助~~
关键词
四旋翼无人机
吊挂负载
未知参数
自适应控制
减摆控制
Quadrotor unmanned aerial vehicle（UAV）
slung-load
unknown parameter
adaptive control
anti-swing control
