A load tracking control method for a multi-UAV cooperative transportation system
A technology of collaborative transportation and multi-UAV, applied in the field of robotics, can solve the problems of system crash, damaged transportation materials, limited load capacity of lightweight single UAV, etc., and achieve the effect of increasing transportation efficiency.
Active Publication Date: 2022-07-26
NORTHWESTERN POLYTECHNICAL UNIV
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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
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[0044] The present invention will now be further described in conjunction with the embodiments and accompanying drawings:
[0045] The first step: load position tracking controller design
[0046] It is easy to know that with the load and the research object, the dynamic model is:
[0047]
[0048] where m L is the load mass, g is the gravity, p L is the load position, Represents the resultant tensile force of each tether subjected to the load, T i Pull on the i-th tether.
[0049] First define the error:
[0050]
[0051]
[0052] Consider a sliding surface:
[0053]
[0054] where c L =diag(c xL ,c yL ,c zL )>0.
[0055] Since there are no unknown disturbances to the motion of the load, only one exponential reaching law can be designed:
[0056]
[0057] where k L =diag(k xL ,k yL ,k zL )>0.
[0058] According to , and , the control input can be solved for:
[0059]
[0060] in desired position for the load
[0061] Step 2: Optimal tensi...
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The invention relates to a load tracking control method of a multi-unmanned aerial vehicle cooperative transportation system. The system consists of n unmanned aerial vehicles, n tethers and a load. The coordinated transportation of the load is completed. The steps include: load position tracking controller design, optimal tension distribution on the rope and UAV position and attitude control design including tether tension control. Beneficial effect: It solves the problem of precise position tracking and control of loads in multi-UAV cooperative transportation. The invention can solve a set of optimal tension distribution results, so as to balance the output of the unmanned aerial vehicle and increase the transportation efficiency.
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 continuously mature, and lightweight and short-distance drone transportation has gradually emerged, mainly used in express delivery, intercity transportation, etc. Due to the large population density in China, for safety reasons, this The transportation method has not been widely used, but there are many mature cases in the world, such as Deutsche Post's Parcelcopter tilt-rotor drone, and Amazon's Prime Air drone delivery. [0003] However, the load capacity of lightweight single UAVs is limited. In order to expand the load capacity of lightweight UAVs, the concept of multi-UAV cooperative transportation has been proposed, which has triggered a research upsurge of many researchers. Compared with single UAV t...
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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 黄攀峰张校祯张帆张夷斋
Owner NORTHWESTERN POLYTECHNICAL UNIV