Adaptive control method for four-rotor unmanned aerial vehicle suspension transportation system

Abstract

The invention relates to the position precise control and load swing rapid suppression of a four-rotor unmanned aerial vehicle suspension transportation system, in particular, an adaptive control method for the four-rotor unmanned aerial vehicle suspension transportation system. As for the four-rotor unmanned aerial vehicle suspension transportation system with unknown object parameters such as load mass and air damping coefficients, a nonlinear controller is designed, and at the same time, a parameter adaptive law is designed, and therefore, the unknown parameters can be estimated, and the parameter uncertainty of the system can be offset. According to the technical schemes of the invention, the adaptive control method of the four-rotor unmanned aerial vehicle suspension transportation system includes the following steps that: 1) the dynamic model of the four-rotor unmanned aerial vehicle suspension transportation system is established, and the expression of the model is described inthe descriptions of the invention; and 2) a nonlinear controller and a parameter adaptive law are designed. The adaptive control method of the invention is mainly applied to the control of the four-rotor unmanned aerial vehicle suspension transportation system.

Description

technical field [0001] The invention relates to the precise control of the position of the hanging transport system of the quadrotor UAV and the fast suppression of the swing of the load. Aiming at the constraints of underactuated characteristics and unknown parameters of the system, an adaptive coupled nonlinear controller based on energy method is proposed. Specifically, it involves an adaptive control method for a quadrotor UAV hanging transportation system. Background technique [0002] In recent years, quadrotor drones have played an important role in natural disaster exploration, agricultural fertilization, commercial and military applications, and researchers have carried out many related studies. The use of quadrotor UAVs to transport goods is one of the important directions of quadrotor UAV application research. A common method is to directly load the load object under the quadrotor UAV. This method has a disadvantage. Because the load increases the inertia of the...

AI Technical Summary

Problems solved by technology

[0004] Regarding the control of the UAV hanging transportation system, researchers have achieved certain results, but there are still some limitations: 1) Some existing control designs have made more assumptions about the dynamic characteristics of the controlled object and simplification, for example, in some existing achievements, it is assumed that the load swing angle is small enough, and then the corresponding controller is designed on this basis

However, in actual situations, it should be considered that when there is a large fluctuation in the swing angle, necessary feedback control is required to ensure the stability of the system; 2) For example, some control methods linearize the controlled model near the equilibrium point, Then the controller is designed to ensure the control effect at the equilibrium point, but the stability and control issues at the unbalanced point are not considered; 3) Most of the existing control methods are based on the condition that the mass of the suspended load is known, but in some In practical applications, when there is a change in the load quality, the effective control method needs to be independent of the load quality to a certain extent; 4) Most of the current nonlinear control methods are only numerical simulations, and have not been carried out in the real environment. verification, there are still certain risks for practical applications

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