基于预设性能的四旋翼无人机吊挂系统固定时间控制方法
By establishing an eight-degree-of-freedom dynamic model and a three-level cascaded control structure for the quadrotor UAV sling system, and designing a fixed-time convergence control law, the problems of rapid convergence and attitude influence in load swing control in existing technologies were solved, achieving high-precision tracking and improved stability of the system.
CN121050449BActive Publication Date: 2026-07-17NORTHEASTERN UNIV CHINA
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NORTHEASTERN UNIV CHINA
- Filing Date
- 2025-08-26
- Publication Date
- 2026-07-17
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Figure CN121050449B_ABST
Abstract
本发明提供一种基于预设性能的四旋翼无人机吊挂系统固定时间控制方法，涉及四旋翼无人机技术领域。该方法建立四旋翼无人机吊挂系统的八自由度动力学模型；构造跟踪误差系统，并对跟踪误差施加预设性能约束，再通过同胚映射将受约束的误差空间转换为无约束空间；基于四旋翼无人机吊挂系统的八自由度动力学模型，利用反步法设计在预设性能约束下的跟踪误差的固定时间收敛控制律，包括控制四旋翼无人机位置的控制律、控制四旋翼无人机姿态的控制律和控制吊挂负载的虚拟控制律，得到四旋翼无人机吊挂系统的控制输入信号。该方法不仅保证了四旋翼无人机吊挂系统的快速收敛，而且在整个动态响应过程中始终满足性能指标，有效提升了控制精度与鲁棒性。
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