Trajectory tracking method for unmanned helicopter with airborne geophysical prospecting hanger

Abstract

The invention discloses a trajectory tracking method for an unmanned helicopter with an airborne geophysical prospecting hanger, which relates to the technical field of unmanned aerial vehicles, and comprises the following steps of: constructing an unmanned helicopter model with unknown variables based on multi-modal parameters of the unmanned helicopter and introduction of uncertain factors which are regarded as interference to force and torque in a model; according to the method, a height subsystem calculates and sets main paddle lift force control input through a mass uncertainty compensation item and an interference compensation item, and meanwhile, a mass estimation value and an interference upper bound estimation value are dynamically updated through an adaptive law; the yaw attitude subsystem calculates and sets yaw moment control input through a rotational inertia compensation item and an interference compensation item, dynamically updates a rotational inertia estimated value and an interference upper bound estimated value, estimates unknown parameters in real time, compensates interference, reduces trajectory tracking errors, ensures that the unmanned helicopter can accurately fly along a predetermined trajectory in a complex environment, and improves the reliability of the unmanned helicopter. And the flight path stability of airborne geophysical prospecting is met.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a trajectory tracking method for an unmanned helicopter with an aerial geophysical exploration suspension. Background Art

[0002] In the field of aerial geophysical exploration, unmanned helicopters equipped with aerial geophysical exploration suspension are widely used in geological exploration, mineral surveys, environmental monitoring and other tasks due to their advantages such as strong flexibility, low operating costs and adaptability to complex terrain.

[0003] At present, in the existing technology, it is difficult for unmanned helicopters to accurately control the trajectories of the helicopter and the suspension at the same time when performing aerial geophysical exploration suspension missions. The helicopter itself has under-driven and highly coupled characteristics, which makes trajectory tracking control more complicated, and the suspension produces unknown external interference on the helicopter. At the same time, the unmanned helicopter will also be affected by external interference factors of unknown wind fields when performing missions in the field, resulting in difficulty in achieving accurate trajectory tracking control for unmanned helicopters when performing aerial geophysical exploration suspension missions.

[0004] Therefore, a trajectory tracking method of an unmanned helicopter with an aerial geophysical exploration pendant is proposed to solve the above problems. Summary of the Invention

[0005] The main purpose of the present invention is to provide a trajectory tracking method for an unmanned helicopter with an aerial geophysical exploration pendant to solve the problems raised in the above background.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a trajectory tracking method of an unmanned helicopter with an aerial geophysical exploration pylon, comprising the following steps:

[0007] Step 1: Based on the multimodal parameters of the unmanned helicopter, a basic mathematical model of the unmanned helicopter is constructed and uncertainty factors are introduced, which are regarded as interference with the forces and torques in the model to construct an unmanned helicopter model with unknown variables;

[0008] Step 2: Design a controller using the adaptive backstepping control method to decouple the helicopter model into the altitude subsystem, the yaw attitude subsystem, and the longitudinal-lateral subsystem.

[0009] Step 3: For each subsystem, define the tracking error and design the virtual control quantity. Combined with Lyapunov stability theory, derive the control law and parameter adaptation law, estimate the unknown parameters in real time and compensate for the interference to achieve the tracking of the reference trajectory.

[0010] Preferably, in step one, the multimodal parameters of the unmanned helicopter include center of mass position, speed, mass, attitude and inertia parameters, and the uncertain factors include unknown wind field interference, unknown interference introduced by the suspension and unknown model variables.

[0011] Preferably, in step 3, the control law design of the altitude subsystem includes:

[0012] The altitude tracking error is defined as the difference between the actual altitude and the reference altitude trajectory;

[0013] The vertical error is defined by the difference between the actual vertical speed and the virtual control amount;

[0014] The main propeller lift control input is calculated and set through the error feedback term, the mass uncertainty compensation term and the interference compensation term, and the adaptive law dynamically updates parameters, which include the mass estimation value and the interference upper bound estimation value.

[0015] Preferably, in step 3, the control law design of the yaw attitude subsystem includes:

[0016] The yaw angle error is defined by the difference between the actual yaw angle and the reference yaw angle;

[0017] The angular velocity error is defined by the difference between the actual yaw angular velocity and the virtual control value;

[0018] The yaw moment control input is calculated and set through the error feedback term, the rotational inertia compensation term and the disturbance compensation term, and the adaptive law dynamically updates parameters, the parameters including the rotational inertia estimation value and the disturbance upper bound estimation value.

[0019] Preferably, in step 3, the control law of the longitudinal-lateral subsystem includes decomposing the longitudinal-lateral subsystem into a two-layer structure of an outer-loop position control and an inner-loop attitude control, wherein the outer-loop position control is used to calculate a horizontal position tracking virtual control variable, and generate a desired pitch angle and roll angle based on the horizontal position tracking virtual control variable and a current yaw angle;

[0020] Preferably, the inner loop attitude control adopts a dynamic surface control method, and smoothes the desired angular velocity signal through a second-order command filter. The transfer function calculation formula of the command filter is:

[0021]

[0022] Where G(s) represents the transfer function, ζ represents the damping ratio, and w n represents the natural frequency, and s represents the complex frequency variable.

[0023] Preferably, in the step three, for each subsystem, the tracking error is defined and the virtual control quantity is designed, and the control law and parameter adaptation law are derived through the Lyapunov stability theory, including the yaw attitude subsystem for the yaw angle tracking error, angular velocity error and moment of inertia estimation error, as well as the torque interference upper bound estimation error, and the Lyapunov function of the yaw attitude subsystem is constructed. Through the corresponding control law and adaptation law, the exponential convergence of the yaw angle and inertia estimation errors is ensured.

[0024] Preferably, the longitudinal-lateral subsystem is included in the hierarchical Lyapunov function for the horizontal position error, attitude angle error, mass estimation error and torque interference upper bound estimation error, and the hierarchical Lyapunov function is constructed for the longitudinal-lateral subsystem, and the dynamic surface control method and command filter are combined with the hierarchical Lyapunov analysis to ensure the exponential convergence of the position and attitude parameter errors.

[0025] Preferably, the altitude subsystem is also included in the process of constructing a Lyapunov function for the altitude tracking error, vertical velocity error, mass estimation error and force interference upper bound estimation error, and ensuring the exponential convergence of the altitude error and mass estimation error through corresponding control laws and adaptive laws.

[0026] Preferably, the step 1 includes the boundedness assumption of the interference of forces and moments:

[0027] ‖‖d F (T)‖‖≤δ F , ‖‖d M (T)‖‖≤δ M ;

[0028] Among them, d F (T) represents the force disturbance vector, d M (T) represents the torque disturbance vector, δ F represents an unknown constant, indicating the maximum amplitude of the force disturbance, δ M represents an unknown constant, indicating the maximum amplitude of the torque disturbance;

[0029] Among them, δ M and δ F It is updated by the corresponding adaptive law and compensated by the tanh function.

[0030] The present invention has the following beneficial effects:

[0031] 1. In the present invention, unknown wind field interference, unknown interference introduced by suspension and unknown variables of the model are regarded as interference to force and torque, and an unmanned helicopter model with unknown variables is constructed. At the same time, the altitude subsystem calculates and sets the main rotor lift control input through the mass uncertainty compensation term and the interference compensation term, and the adaptive law dynamically updates the mass estimation value and the interference upper bound estimation value; the yaw attitude subsystem calculates and sets the yaw moment control input through the moment of inertia compensation term and the interference compensation term, dynamically updates the moment of inertia estimation value and the interference upper bound estimation value, estimates the unknown parameters in real time and compensates for the interference, reduces the trajectory tracking error, and ensures that the unmanned helicopter can accurately fly along the predetermined trajectory in a complex environment, meeting the route stability requirements of aerial geophysical exploration.

[0032] 2. In the present invention, the longitudinal-lateral subsystem adopts a double-layer structure of outer-loop position control and inner-loop attitude control, and ensures the exponential convergence of position and attitude parameter errors through dynamic surface control method and command filter combined with hierarchical Lyapunov analysis. Through the hierarchical decoupling control method, the design difficulty brought by strong coupling of multiple variables is reduced, the controller design process is simplified, and at the same time, the stability of the system under all working conditions is enhanced, avoiding the risk of oscillation or divergence in traditional control.

[0033] 3. In the present invention, the longitudinal-lateral subsystem adopts an outer-loop position-inner-loop attitude double-layer control structure combined with a command filter. While ensuring the position tracking accuracy, it reduces the actuator load by smoothing the attitude instructions, thereby extending the service life of the unmanned helicopter and meeting the needs of long-duration geophysical exploration operations. The layered decoupling control structure has strong versatility and can be flexibly adapted to unmanned helicopters of different loads and models. It can be quickly migrated to other similar systems by simply adjusting the adaptive law parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The present invention provides a flow chart of a trajectory tracking method for an unmanned helicopter equipped with an aerial geophysical exploration pendant. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] Implementation 1: Please refer to Figure 1 The present invention provides a technical solution: a method for tracking the trajectory of an unmanned helicopter with an aerial geophysical exploration pylon, comprising the following steps:

[0037] Step 1: Based on the multimodal parameters of the unmanned helicopter, a basic mathematical model of the unmanned helicopter is constructed and uncertainty factors are introduced, which are regarded as interference with the forces and torques in the model to construct an unmanned helicopter model with unknown variables;

[0038] Specifically, the unmanned helicopter model is as follows:

[0039]

[0040] Among them, p represents the position vector, u represents the velocity vector, R represents the rotation matrix from the body coordinate system to the ground coordinate system, and F b represents the main propeller lift control input, d F Represents the force interference vector (hanging swing / wind field), d Mrepresents the torque disturbance vector (attitude disturbance), J represents the moment of inertia matrix of the unmanned helicopter, w represents the angular velocity vector of the unmanned helicopter, τ b Represents the moment vector acting on the helicopter in the body coordinate system;

[0041] Step 2: Design a controller using the adaptive backstepping control method to decouple the helicopter model into the altitude subsystem, the yaw attitude subsystem, and the longitudinal-lateral subsystem.

[0042] Step 3: For each subsystem, define the tracking error and design the virtual control quantity. Combined with Lyapunov stability theory, derive the control law and parameter adaptation law, estimate the unknown parameters in real time and compensate for the interference to achieve the tracking of the reference trajectory.

[0043] Preferably, in step one, the multimodal parameters of the unmanned helicopter include center of mass position, speed, mass, attitude and inertia parameters, and the uncertainties include unknown wind field interference, unknown interference introduced by the suspension and unknown model variables.

[0044] Preferably, in step 3, the control law design of the altitude subsystem includes:

[0045] The altitude tracking error is defined as the difference between the actual altitude and the reference altitude trajectory;

[0046] The vertical error is defined by the difference between the actual vertical speed and the virtual control amount;

[0047] The main propeller lift control input is calculated and set through the error feedback term, mass uncertainty compensation term and disturbance compensation term. At the same time, the adaptive law dynamically updates the parameters, which include the mass estimation value and the disturbance upper bound estimation value.

[0048] Specifically, the virtual control amount of the height subsystem is calculated by the formula:

[0049] Among them, a z represents the virtual control quantity, Rate of change of reference altitude, -k z e z Represents the negative feedback compensation of height error, k z represents the control gain;

[0050] The main propeller lift control input is calculated and set using the formula:

[0051] Among them, u z represents the main propeller lift control input, k u represents the control parameter, represents the quality estimate, ∈ represents the smoothing factor and is greater than 0, represents the upper bound estimate of force interference;

[0052] The specific adaptive law dynamically updates the parameters through:

[0053] in, represents the time derivative of the mass estimate, that is, the rate of change of the mass estimate over time, γ m represents the quality estimation adaptive gain coefficient; represents the derivative of the force interference upper bound estimate with respect to time, and γδ represents the adaptive gain coefficient of the force interference upper bound estimate;

[0054] Preferably, in step 3, the control law design of the yaw attitude subsystem includes:

[0055] The yaw angle error is defined by the difference between the actual yaw angle and the reference yaw angle;

[0056] The angular velocity error is defined by the difference between the actual yaw angular velocity and the virtual control value;

[0057] The yaw moment control input is calculated and set through the error feedback term, the rotational inertia compensation term and the disturbance compensation term. At the same time, the adaptive law dynamically updates the parameters, which include the rotational inertia estimate and the disturbance upper bound estimate.

[0058] Specifically, the virtual control quantity of the yaw attitude subsystem is given by the formula:

[0059] in, represents the virtual control quantity, represents the reference yaw angle, represents the control gain, Represents the actual yaw angle;

[0060] Calculate the yaw moment control input using the formula:

[0061] in, represents the yaw moment control input, k w represents the control parameter, represents the estimated moment of inertia of the yaw axis, represents the derivative of the virtual control quantity with respect to time, represents the estimated upper bound of the torque disturbance;

[0062] Among them, the specific yaw attitude subsystem adaptive law dynamic update parameters are expressed by the formula:

[0063]

[0064] Among them, γ J represents the adaptive gain of the estimated yaw axis moment of inertia, γ δM Adaptive gain for the upper bound estimate of the torque disturbance, represents the time derivative of the estimated moment of inertia of the yaw axis, Represents the time derivative of the upper bound estimate of the torque disturbance.

[0065] Preferably, in step 3, the control law of the longitudinal-lateral subsystem includes decomposing the longitudinal-lateral subsystem into a two-layer structure of an outer-loop position control and an inner-loop attitude control, wherein the outer-loop position control is used to calculate a horizontal position tracking virtual control variable, and generate a desired pitch angle and roll angle based on the horizontal position tracking virtual control variable and the current yaw angle;

[0066] Specifically, the horizontal position tracking virtual control amount is calculated by the formula:

[0067] Among them, a xy Represents the horizontal position tracking virtual control quantity, represents the reference velocity vector, k p represents the proportional control gain, e xy Represents the horizontal position error vector, x and y represent the actual horizontal position coordinates of the unmanned helicopter in the inertial coordinate system, x d and y d Represents the reference position coordinates of the unmanned helicopter in the horizontal direction in the inertial coordinate system, that is, the position coordinates that it is expected to reach;

[0068] The desired pitch and roll angles are given by:

[0069] Among them, θ d represents the desired pitch angle, φ d represents the desired roll angle, a x and a y Represents the components of the horizontal position tracking virtual control amount in the x and y directions, Represents the current yaw angle, and g represents the acceleration due to gravity.

[0070] Preferably, the inner loop attitude control adopts a dynamic surface control method, and the desired angular velocity signal is smoothed by a second-order command filter. The transfer function calculation formula of the command filter is:

[0071]

[0072] Where G(s) represents the transfer function, ζ represents the damping ratio, and w n represents the natural frequency, and s represents the complex frequency variable.

[0073] Preferably, in step three, for each subsystem, the tracking error is defined and the virtual control quantity is designed, and the control law and parameter adaptation law are derived through the Lyapunov stability theory, including the yaw attitude subsystem for the yaw angle tracking error, angular velocity error and moment of inertia estimation error, as well as the torque interference upper bound estimation error, and the Lyapunov function of the yaw attitude subsystem is constructed. Through the corresponding control law and adaptation law, the exponential convergence of the yaw angle and inertia estimation errors is ensured.

[0074] Specifically, construct the Lyapunov function of the yaw attitude subsystem:

[0075]

[0076] in, The Lyapunov function representing the yaw attitude subsystem, represents the yaw angle error,

[0077] represents the yaw rate error, represents the estimation error of the yaw axis moment of inertia, represents the upper bound estimation error of the torque disturbance, λ Z represents a constant greater than 0, γ J Represents the adaptive gain of the estimated yaw axis moment of inertia, .

[0078] Preferably, the longitudinal-lateral subsystem is included in the hierarchical Lyapunov function for the horizontal position error, attitude angle error, mass estimation error and torque interference upper bound estimation error, and the hierarchical Lyapunov function is constructed for the longitudinal-lateral subsystem, and the dynamic surface control method and command filter are combined with the hierarchical Lyapunov analysis to ensure the exponential convergence of the position and attitude parameter errors.

[0079] Specifically, the Lyapunov function of the hierarchical Lyapunov function of the vertical-horizontal subsystem is constructed:

[0080]

[0081] Among them, V xy The hierarchical Lyapunov function representing the longitudinal-lateral subsystem, e xy represents the horizontal position error vector, e θ represents the pitch angle error, e φ represents the roll angle error, represents the upper bound error of quality or interference, γ i The adaptive gain representing the upper bound error of quality or interference, γ δM An adaptive gain representing an upper bound estimate of the torque disturbance.

[0082] Preferably, the altitude subsystem is also included in the process of constructing a Lyapunov function for the altitude tracking error, vertical velocity error, mass estimation error and force interference upper bound estimation error, and ensuring the exponential convergence of the altitude error and mass estimation error through corresponding control laws and adaptive laws.

[0083] Specifically, construct the Lyapunov function of the height subsystem:

[0084]

[0085] Among them, V z Lyapunov function representing the height subsystem, represents the mass estimation error, represents the error in estimating the upper bound of force interference, γm represents the adaptive gain of the mass estimation value, and γδ represents the adaptive gain of the estimating value of the upper bound of force interference. The time derivative of the Lyapunov function representing the altitude subsystem, λ Z Represents a constant greater than 0.

[0086] Preferably, step 1 includes the boundedness assumption of the interference of forces and moments:

[0087] ‖‖d F (T)‖‖≤δ F , ‖‖d M (T)‖‖≤δ M ;

[0088] Among them, d F (T) represents the force disturbance vector, d M (T) represents the torque disturbance vector, δ F represents an unknown constant, indicating the maximum amplitude of the force disturbance, δ M represents an unknown constant, indicating the maximum amplitude of the torque disturbance;

[0089] Among them, δ M and δ F It is updated by the corresponding adaptive law and compensated by the tanh function.

[0090] In the present invention, a trajectory tracking method for an unmanned helicopter with an aerial geophysical exploration pylon is provided, which regards unknown wind field interference, unknown interference introduced by the pylon and unknown variables of the model as interference to force and torque, and constructs an unmanned helicopter model with unknown variables. At the same time, the altitude subsystem calculates and sets the main propeller lift control input through the mass uncertainty compensation term and the interference compensation term, and dynamically updates the mass estimation value and the interference upper bound estimation value by the adaptive law; the yaw attitude subsystem calculates and sets the yaw moment control input through the moment of inertia compensation term and the interference compensation term, dynamically updates the moment of inertia estimation value and the interference upper bound estimation value, estimates unknown parameters and compensates for interference in real time, reduces trajectory tracking error, and ensures that the unmanned helicopter can accurately fly along the predetermined trajectory in complex environments, meeting the requirements of aerial geophysical exploration for route stability; the longitudinal-lateral subsystem adopts outer loop position control and inner loop attitude control. The double-layer structure of the control is adopted, and the dynamic surface control method and command filter are combined with the hierarchical Lyapunov analysis to ensure the exponential convergence of the position and attitude parameter errors. The hierarchical decoupling control method reduces the design difficulty brought by the strong coupling of multiple variables, simplifies the controller design process, and enhances the stability of the system under all working conditions, avoiding the oscillation or divergence risks of traditional control. The longitudinal-lateral subsystem adopts the outer loop position-inner loop attitude double-layer control structure combined with the command filter. While ensuring the position tracking accuracy, it reduces the actuator load by smoothing the attitude instructions, prolongs the service life of the unmanned helicopter, and is suitable for the needs of long-duration geophysical exploration operations. The hierarchical decoupling control structure has strong versatility and can be flexibly adapted to unmanned helicopters of different loads and models. It can be quickly migrated to other similar systems by simply adjusting the adaptive law parameters.

[0091] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0092] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for tracking the trajectory of an unmanned helicopter with an aerial geophysical exploration pylon, characterized in that: The following steps are involved: Step 1: Based on the multimodal parameters of the unmanned helicopter, the uncertainty factor is introduced as interference to the forces and moments in the model to construct an unmanned helicopter model with unknown variables. Step 2: Design a controller using the adaptive backstepping control method to decouple the helicopter model into the altitude subsystem, the yaw attitude subsystem, and the longitudinal-lateral subsystem. Step 3: For each subsystem, define the tracking error and design the virtual control quantity. Combined with Lyapunov stability theory, derive the control law and parameter adaptation law, estimate the unknown parameters in real time and compensate for the interference to achieve the tracking of the reference trajectory.

2. The method for tracking the trajectory of an unmanned helicopter with an aerial geophysical exploration pylon according to claim 1, characterized in that: In the step 1, the multimodal parameters of the unmanned helicopter include the center of mass position, speed, mass, attitude and inertia parameters, and the uncertain factors include unknown wind field interference, unknown interference introduced by the suspension and unknown model variables.

3. The method for tracking the trajectory of an unmanned helicopter with an aerial geophysical exploration pylon according to claim 1, characterized in that: In step 3, the control law design of the altitude subsystem includes: The altitude tracking error is defined as the difference between the actual altitude and the reference altitude trajectory; The vertical error is defined by the difference between the actual vertical speed and the virtual control amount; The main propeller lift control input is calculated and set through the error feedback term, the mass uncertainty compensation term and the interference compensation term, and the adaptive law dynamically updates parameters, which include the mass estimation value and the interference upper bound estimation value.

4. The method for tracking the trajectory of an unmanned helicopter with an aerial geophysical exploration pylon according to claim 3, characterized in that: In step 3, the control law design of the yaw attitude subsystem includes: The yaw angle error is defined by the difference between the actual yaw angle and the reference yaw angle; The angular velocity error is defined by the difference between the actual yaw angular velocity and the virtual control value; The yaw moment control input is calculated and set through the error feedback term, the rotational inertia compensation term and the disturbance compensation term, and the adaptive law dynamically updates parameters, the parameters including the rotational inertia estimation value and the disturbance upper bound estimation value.

5. The method for tracking the trajectory of an unmanned helicopter with an aerial geophysical exploration pylon according to claim 4, characterized in that: In step three, the control law of the longitudinal-lateral subsystem includes decomposing the longitudinal-lateral subsystem into a two-layer structure of outer-loop position control and inner-loop attitude control, wherein the outer-loop position control is used to calculate a horizontal position tracking virtual control variable, and generate a desired pitch angle and roll angle based on the horizontal position tracking virtual control variable and the current yaw angle.

6. The method for tracking the trajectory of an unmanned helicopter with an aerial geophysical exploration pylon according to claim 5, characterized in that: The inner loop attitude control adopts the dynamic surface control method, and the desired angular velocity signal is smoothed by a second-order command filter. The transfer function calculation formula of the command filter is: Where G(s) represents the transfer function, ζ represents the damping ratio, and w n represents the natural frequency, and s represents the complex frequency variable.

7. The method for tracking the trajectory of an unmanned helicopter with an aerial geophysical exploration pylon according to claim 1, characterized in that: In the step three, for each subsystem, the tracking error is defined and the virtual control quantity is designed. The control law and parameter adaptation law are derived through the Lyapunov stability theory, including the yaw attitude subsystem for the yaw angle tracking error, angular velocity error and moment of inertia estimation error, as well as the torque disturbance upper bound estimation error. The Lyapunov function of the yaw attitude subsystem is constructed, and the corresponding control law and adaptation law are used to ensure the exponential convergence of the yaw angle and inertia estimation errors.

8. The method for tracking the trajectory of an unmanned helicopter with an aerial geophysical exploration pylon according to claim 7, characterized in that: The hierarchical Lyapunov function of the longitudinal-lateral subsystem is constructed for the horizontal position error, attitude angle error, mass estimation error and torque disturbance upper bound estimation error. The dynamic surface control method and command filter are combined with hierarchical Lyapunov analysis to ensure the exponential convergence of position and attitude parameter errors.

9. The method for tracking the trajectory of an unmanned helicopter with an aerial geophysical exploration pylon according to claim 7, characterized in that: It also includes the construction of the Lyapunov function of the altitude subsystem for altitude tracking error, vertical velocity error, mass estimation error and force interference upper bound estimation error, and ensures the exponential convergence of altitude error and mass estimation error through corresponding control laws and adaptive laws.

10. The method for tracking the trajectory of an unmanned helicopter with an aerial geophysical exploration pylon according to claim 7, characterized in that: The first step involves the boundedness assumption of the interference of forces and moments: ‖‖d F (T)‖‖≤δ F ,‖‖d M (T)‖‖≤δ M ; Among them, d F (T) represents the force disturbance vector, d M (T) represents the torque disturbance vector, δ F represents an unknown constant, indicating the maximum amplitude of the force disturbance, δ M represents an unknown constant, indicating the maximum amplitude of the torque disturbance; Among them, δ M and δ F It is updated by the corresponding adaptive law and compensated by the tanh function.

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