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Load tracking control method of multi-unmanned aerial vehicle cooperative transportation system

A collaborative transportation and multi-UAV technology, applied in the field of robotics, can solve problems such as system crashes, transportation material damage, and limited load capacity of lightweight single UAVs, and achieve the effect of increasing transportation efficiency

Active Publication Date: 2021-04-13
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the load capacity of a lightweight single UAV is limited. In order to expand the load capacity of a lightweight UAV, the concept of multi-UAV cooperative transportation was proposed, which triggered a research boom of many researchers. Compared with the single-UAV transportation, the cooperative transportation of UAVs is more difficult and challenging. It requires a high degree of coordination and control accuracy of multiple UAVs. Once there is a deviation, it is likely to cause the entire system to crash and the transportation materials to be damaged.
[0004] Facing such a problem, the present invention proposes a load position tracking control method for a multi-UAV cooperative transportation system, which solves the problem of precise load position control for multi-UAV cooperative transportation

Method used

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Embodiment Construction

[0044] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0045] Step 1: Load Position Tracking Controller Design

[0046] It is easy to know that with load and research object, its dynamic model is:

[0047]

[0048] where m L is load mass, g is gravity, p L is the load position, Indicates the resultant tensile force of each tether that the load is subjected to, T i Apply tension to the i-th tether.

[0049] First define the error:

[0050]

[0051]

[0052] Consider the sliding surface:

[0053]

[0054] where c L =diag(c xL ,c yL ,c zL )>0.

[0055] Since there is no unknown disturbance in the motion of the load, only an exponential reaching law can be designed:

[0056]

[0057] where k L =diag(k xL ,k yL ,k zL )>0.

[0058] According to (1), (2) and (3), the control input can be solved:

[0059]

[0060] in is the expected position of the load

[0061] Step 2: Optimal tension d...

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Abstract

The invention relates to a load tracking control method of a multi-unmanned-aerial-vehicle cooperative transportation system. The system is composed of n unmanned aerial vehicles, n tying ropes and a load, wherein the n unmanned aerial vehicles are connected with the load through the respective tying ropes and complete cooperative transportation of the load under a certain formation. The method comprises the steps of: load position tracking controller design, on-rope optimal tension distribution and unmanned aerial vehicle position attitude control design including tying rope tension control. With the method adopted, the problem of accurate position tracking control of the load in multi-unmanned aerial vehicle cooperative transportation is solved; a group of optimal tension distribution results can be solved, so that the output of the unmanned aerial vehicles is balanced, and the transportation efficiency is improved.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a load tracking control method of a multi-unmanned aerial vehicle cooperative transportation system. Background technique [0002] In recent years, air transportation technology has been maturing, and lightweight, short-distance drone transportation has gradually emerged. It is mainly used in express delivery, intercity transportation, etc. Due to China's large population density, for safety reasons, this The transportation method has not been widely used, but there are already many mature cases in the world, such as the Parcelcopter tilt-rotor UAV provided by Deutsche Post, and the Prime Air UAV express delivery provided by Amazon. [0003] However, the load capacity of a lightweight single UAV is limited. In order to expand the load capacity of a lightweight UAV, the concept of multi-UAV cooperative transportation was proposed, which triggered a research boom of many researchers. Compared ...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 张帆张校祯黄攀峰
Owner NORTHWESTERN POLYTECHNICAL UNIV