多无人机吊挂负载运输系统的非线性鲁棒控制设计  

Nonlinear robust control design for multi unmanned aerial vehicles suspended payload transportation system

作　　者：鲜斌 王光怡 蔡佳明 XIAN Bin;WANG Guang-yi;CAI Jia-ming(School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China)

机构地区：[1]天津大学电气自动化与信息工程学院,天津300072

出　　处：《吉林大学学报（工学版）》2024年第6期1788-1795,共8页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家重点研发计划项目(2018YFB1403900);国家自然科学基金项目(91748121,90916004)。

摘　　要：针对多无人机吊挂负载运输系统中负载的位置跟踪和姿态控制问题,提出了一种新型非线性鲁棒控制策略。首先,在存在未知外界扰动和考虑系统内部状态耦合的基础上,基于拉格朗日力学建立了多无人机吊挂负载运输系统的动力学模型。其次,设计了一种基于误差符号函数积分(RISE)和几何控制方法的非线性鲁棒控制策略,用于补偿未知外界扰动的影响,实现了对负载位姿的精确控制。基于Lyapunov方法的稳定性分析证明了闭环系统的稳定性和吊挂负载跟踪误差的渐近收敛。仿真结果表明,本文提出的控制策略可以实现良好的轨迹跟踪效果,并对外界干扰有较好的鲁棒性。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.

关 键 词：控制理论与控制工程 多无人机 吊挂负载 几何控制 非线性控制 鲁棒控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]