The invention discloses a multi-mode
nonlinear model predictive control method and
system for a visual
servo-driven arm-carrying unmanned aerial vehicle, and belongs to the technical field of
intelligent control of arm-carrying unmanned aerial vehicles. The objective of the invention is to solve the problems of unstable
control mode switching and difficulty in unified control modeling of different target structures in existing unmanned aerial vehicle grabbing control. According to the technical scheme, a task-driven
modal judgment mechanism is introduced, the current task
modal can be judged in real
time based on the
target type, the image features and the flight state information, control strategy self-
adaptive switching between a rod-shaped target and a plane target is achieved, and continuity and stability of
control logic are guaranteed. For a rod-shaped structure target, a remote approaching,
servo adjustment and compliant contact three-stage control strategy is designed, and a dynamic
weight adjustment mechanism is introduced into NMPC control solution, so that smooth transition of control performance from quick response to fine compliant is realized, and the control precision and compliance of the arm-carrying unmanned aerial vehicle in different operation stages are remarkably improved. For a plane structure target, the invention provides an adsorption control strategy based on
impact time prediction and angle feedforward compensation, the
contact time can be accurately estimated, the attitude of the aircraft can be adjusted in advance, the adsorption stability is effectively improved, and the
contact failure probability caused by inclination of a
target surface is reduced.