Self-adaptive control method for energy coupling quadrotor unmanned aerial vehicle hanging air transportation system

Abstract

The invention relates to accurate position control of a four-rotor unmanned aerial vehicle hanging air transportation system and effective suppression of load swing, and designs a self-adaptive controller based on energy coupling for the four-rotor unmanned aerial vehicle hanging air transportation system with unknown parameters (air damping coefficients) and model uncertainty. The invention relates to a self-adaptive control method for an energy coupling quadrotor unmanned aerial vehicle hanging air transportation system. The method comprises the following steps of constructing an energy storage function based on an energy shaping control method to process state coupling; then, using a neural network for carrying out online estimation on the unmodeled dynamic characteristics, while designing a parameter adaptive law to estimate unknown system parameters online, using a robust control algorithm based on a sign function for compensating estimation errors of the neural network, and thenachieving adaptive control over the four-rotor unmanned aerial vehicle hanging air transportation system. The invention is mainly applied to control of the quad-rotor unmanned aerial vehicle.

Description

technical field [0001] The invention relates to precise position control of a four-rotor unmanned aerial vehicle hanging air transport system and effective suppression of load swing. Aiming at the problems of model uncertainty, unknown parameters and underactuation in this system, an adaptive control design based on energy coupling is proposed. Background technique [0002] In recent years, quadrotor drones have achieved great development due to their unique advantages such as vertical take-off and landing, autonomous hovering, and flexible maneuvering. widely used. Especially with the rapid development of flight control technology, the research results of quadrotor drones are changing with each passing day, and the hanging and transportation of drones has become one of the important application directions of drones. [0003] The quadrotor UAV hanging air transport system is a typical underactuated system with eight degrees of freedom and four control input signals. Since...

AI Technical Summary

Problems solved by technology

[0006] In recent years, the research on the quadrotor UAV hanging air transport system has achieved remarkable results, but there are still some limitations: 1) Some existing control designs linearize the dynamic characteristics of the UAV hanging air transport system 2) Some control strategies do not consider the unknown system parameters or simplify the controlled model, such as ignoring or simplifying the 3) Part of the control strategy has not given a relatively strict stability analysis proof or has not carried out actual flight experiments, so its actual effect is still to be tested

Images