UG环球手机版下载:Nonlinear controller design for an unmanned aerial vehicle with a slung-load

新2备用网址/2020-06-26/ 分类:科技/阅读:

针对四旋翼无人机吊挂航行体系,本文计划了一种新型节制计策。本文起首成立了四旋翼无人机吊挂体系的数学模子。个中负载被看作由刚性绳悬挂在四旋翼无人机重心位置的质点。之后本文通过能量说明的要领计划了针对此体系的非线性节制器。本文提出的节制要领可以在阻止吊挂负载摆动的同时将四旋翼无人机移动到方针位置。本文运用李雅普诺夫不变性说明和拉塞尔稳固性道理对闭环体系的不变性举办了证实。末了,通过数值仿真,别离将本节制器冷静节制和调理节制的节制结果与线性二次调理器(linear-quadratic regulator, LQR)节制器举办了比拟。

Abstract:

This article presents a novel nonlinear control strategy for a quadrotor unmanned aerial vehicle (UAV) with a slung-load. The dynamic model for a quadrotor UAV system with slung-load is firstly obtained. The load is considered as a mass point, with a rigid link connected to the centre of gravity of the quadrotor UAV. Then, a nonlinear control strategy for the considered system is designed via the energy-based methodology. The proposed control design is able to move the quadrotor UAV to its desired position while suppress the swing of the load. The Lyapunov-based stability analysis and the LaSalle Invariance Theorem are employed to prove the stability of the closed-loop system. The control performance of the proposed control strategy is compared with that of a linear-quadratic regulator (LQR) controller via numerical simulation of stabilization control and regulation control.

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