基于耦合特性的多四旋翼协同吊挂系统分布式自适应滑模控制  

Distributed Adaptive Sliding Mode Control of Multi-Quadrotor Cooperative Suspension System Based on Coupling Characteristics

作　　者：刘伟[1] 陈谋[1] Liu Wei;Chen Mou(Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China)

机构地区：[1]南京航空航天大学,江苏南京211106

出　　处：《航空科学技术》2024年第9期70-79,共10页Aeronautical Science & Technology

基　　金：航空科学基金(20200007052001);江苏省科技计划专项资金港澳台科技合作项目(BZ2023057)。

摘　　要：多四旋翼协同吊挂系统(MQCSS)的编队运输能提升搬运效率与安全性,实现灵活操控,广泛应用于生产、物流等领域。针对存在未知扰动的MQCSS的编队运输问题,本文提出一种基于耦合特性的分布式自适应滑模控制方法。结合预设性能方法,设计自适应滑模控制器以确保四旋翼飞行器执行编队飞行运输,并避免四旋翼飞行器之间的碰撞。定义负载与四旋翼飞行器之间的耦合特性指标,设计了基于耦合特性的自适应滑模控制器,实现MQCSS的鲁棒协同运输。通过Lyapunov稳定性分析证明了闭环系统所有跟踪误差的一致最终有界性。最后,通过数值仿真验证了所提方法的有效性。所设计的控制方法可优化多四旋翼协同吊挂系统的稳定性和精确性,实现高效、安全的物体搬运操作,推动物流和工业自动化技术的发展与应用。The formation transportation of a multi-quadrotor cooperative suspension system(MQCSS) can enhance handling efficiency and safety,realize flexible control,and be widely used in production,logistics,and other fields.A distributed adaptive sliding mode control method based on coupling characteristics is proposed for the formation transportation problem of MQCSS with unknown disturbances.Combined with the prescribed performance method,the adaptive sliding mode controller is designed to ensure that the quadcopters perform formation flight transportation and avoid collisions between them.This paper defines the coupling characteristic index between the load and quadcopter,and design an adaptive sliding mode controller based on this index to achieve robust cooperative transportation of MQCSS.The uniform ultimate bounds of all tracking errors of the closed-loop system are proved by Lyapunov stability analysis.Finally,the effectiveness of the proposed method is verified by numerical simulation.The designed control method is to optimize the stability and accuracy of the MQCSS,to achieve efficient and safe object handling operations,and to promote the development and application of logistics and industrial automation technologies.

关 键 词：协同吊挂 分布式编队控制 自适应滑模 预设性能 耦合特性 

分 类 号：TP30[自动化与计算机技术—计算机系统结构]