无人机吊挂飞行的非线性控制方法设计  

Nonlinear controller design for an unmanned aerial vehicle with a slung-load

作　　者：鲜斌[1,2,3] 张旭[1,2,3] 杨森[1,2,3] 

机构地区：[1]天津大学电气与自动化工程学院 [2]机器人与自主系统研究所 [3]天津市过程检测与控制重点实验室,天津300072

出　　处：《控制理论与应用》2016年第3期273-279,共7页Control Theory & Applications

基　　金：天津市应用基础与前沿技术研究计划重点项目(14JCZDJC31900);天津市科技计划项目(14RCHZGX00862);国家自然科学基金项目(60804004,90916004)资助~~

摘　　要：针对四旋翼无人机吊挂飞行系统,本文设计了一种新型控制策略.本文首先建立了四旋翼无人机吊挂系统的数学模型.其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.之后本文通过能量分析的方法设计了针对此系统的非线性控制器.本文提出的控制方法可以在抑制吊挂负载摆动的同时将四旋翼无人机移动到目标位置.本文运用李雅普诺夫稳定性分析和拉塞尔不变性原理对闭环系统的稳定性进行了证明.最后,通过数值仿真,分别将本控制器镇定控制和调节控制的控制效果与线性二次调节器(linear-quadratic regulator,LQR)控制器进行了对比.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.

关 键 词：四旋翼 无人机 抗摆控制 吊挂 能量方法 

分 类 号：V249.12[航空宇航科学与技术—飞行器设计]