The invention relates to the technical field of unmanned aerial vehicles and robots, in particular to a lightweight quad-rotor vector unmanned aerial vehicle-mechanical arm
system, which realizes effective identification and
processing of complex disturbance through
cooperative work of a plurality of modules, and improves the working efficiency. The
system comprises a sensing module, a state
estimation module, a self-adaptive time
delay parameter optimization module, a multi-level disturbance decoupling and
estimation module, a sliding mode boundary layer self-adaptive regulation and control module, a
signal peak value real-time detection and feed-forward compensation module, a multi-module collaborative dynamic fusion module and the like. The modules jointly improve the
attitude stability and the
tail end positioning precision of the
system during execution of fine operation tasks, and the
attitude stability and the
tail end positioning precision are improved by 70% and 65% respectively. According to the method, through the mode of combining self-adaptive time
delay parameter optimization and multi-level disturbance decoupling, the recognition and
processing capacity of the system on complex disturbance caused by movement of the mechanical arm is greatly improved, and the system is more stable and accurate when executing a fine operation task.