多无人机吊挂负载运输系统的非线性鲁棒控制设计

doi:10.13229/j.cnki.jdxbgxb.20220882

Abstract

Abstract:

Multi UAVs suspended payload transportation system is a new type of aerial transportation. In this paper， a new nonlinear robust control strategy is proposed for the position tracking and attitude control of the payload. To deal with the unknown external disturbances and strong system states coupling， the dynamic model of multi-UAV suspended payload transportation system is established via the Lagrange method. Then， a nonlinear robust control strategy based on robust-integral-signum-error method and geometric control is designed to compensate for the effects of unknown external disturbances， and accurate control of the payload's attitude and position are achieved. Based on the stability analysis of Lyapunov method， the stability of the closed-loop system and the asymptotic convergence of the suspended load tracking error are proved. The simulation results show that the control strategy proposed in this paper can achieve good trajectory tracking performance and has good robustness to unknown external interference.

Key words: control theory and control engineering, multiple unmanned aerial vehicles, suspended payload, geometric control, nonlinear control, robust control

CLC Number:

TP273

Bin XIAN,Guang-yi WANG,Jia-ming CAI. Nonlinear robust control design for multi unmanned aerial vehicles suspended payload transportation system[J].Journal of Jilin University(Engineering and Technology Edition), 2024, 54(6): 1788-1795.

Figures/Tables 10

Fig.1

Table 1

Symbol definition"

符号	单位	所属群	符号描述
$p L$	m	$R 3$	负载质心在惯性坐标系下的位置
$v L$	m/s	$R 3$	负载质心在惯性坐标系下的线速度
$R L$		$S O (3)$	负载在体坐标系下的姿态旋转矩阵
$Ω L$	rad/s	$R 3$	负载在惯性坐标系下的角速度
$m L$	kg	$R$	负载质量
$J L$	m⁴		负载的惯性矩阵
$p i$	m	$R 3$	第 $i$ 架无人机质心在惯性坐标系下的位置
$v i$	m/s	$R 3$	第 $i$ 架无人机质心在惯性坐标系下的线速度
$R i$		$S O (3)$	第 $i$ 架无人机在体坐标系下的姿态旋转矩阵
$Ω i$	rad/s	$R 3$	第 $i$ 架无人机质心在惯性坐标系下的角速度
$m u a v$	kg	$R$	每架无人机的质量
$J i$	m⁴		第 $i$ 架无人机的惯性矩阵
$ω i$	rad/s	$R 3$	第 $i$ 根绳索的角速度

Table 1

Fig. 2

Table 2

Parameters of MATLAB simulation"

增益名称	数值	增益名称	数值
$k p L$	$d i a g ([9.5,11.9,9])$	$β p$	5.0
$k v L$	$d i a g ([1.8,1.6,3.0])$	$c x$	0.05
$α 2$	$d i a g ([3,2.5,0.01])$	$α 1$	26.3
$k t$	$d i a g ([43.7,28.23,17.54])$	$β$	0.01
$k ξ$	$d i a g ([50.1,50,50])$	$k ω$	50

Table 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Table 3

Simulation 1 comparison of maximum steady?state error of load posture"

稳态最大误差	本文控制器	滑模控制器
$e x$	0.001 4	0.020 2
$e y$	0.005 2	0.022 2
$e z$	0.001 5	0.004 5
$e R L (1)$	$2.007 ? 0 × 10 - 5$	$2.322 ? 5 × 10 - 4$
$e R L (2)$	$4.467 ? 3 × 10 - 5$	$3.391 ? 5 × 10 - 4$
$e R L (3)$	0.550 7	0.807 2

Table 3

Table 4

Simulation 2 comparison of maximum steady?state error of load posture"

稳态最大误差	本文控制器	滑模控制器
$e x$	0.188 5	0.294 8
$e y$	0.195 4	0.279 8
$e z$	0.176 1	0.313 8
$e R L (1)$	0.014 4	0.050 1
$e R L (2)$	0.014 4	0.043 9
$e R L (3)$	0.572 7	0.815 3

Table 4

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