基于事件驱动的无人机吊挂系统在线自适应轨迹规划OA北大核心CSTPCD
Event-driven based online adaptive trajectory planning for the UAV slung-payload transportation system
本文针对四旋翼无人机吊挂系统空运过程中负载摆角的非线性最优调节问题,提出了一种基于事件驱动的在线自适应轨迹规划策略.在事件驱动的自适应评价网框架下,利用神经网络的逼近学习能力得到吊挂负载摆动抑制的折现最优控制律.同时结合该控制律进一步规划四旋翼无人机的飞行轨迹,实现了对无人机位置的精确调节和吊挂负载摆动的快速抑制,并且显著降低了无人机机载处理器的计算负担.然后采用基于Lyapunov稳定性的分析方法,证明了神经网络输出权值估计误差一致最终有界,并…查看全部>>
This paper proposes a new event-driven based online trajectory planning strategy for the nonlinear optimal adjustment control of the payload's swing motion for the quadrotor slung-payload transportation system.By using the approximate structure of the neural network,the optimal control law of the payload's swing angle is obtained by training the neural network under the framework of the event-driven adaptive critic network.At the same time,the flight traject…查看全部>>
蔡佳明;鲜斌
天津大学电气自动化与信息工程学院,天津 300072天津大学电气自动化与信息工程学院,天津 300072
轨迹规划事件驱动无人机吊挂系统摆动抑制
trajectory planningevent-drivenUAV slung payload systemswing suppression
《控制理论与应用》 2024 (5)
817-828,12
国家重点研发计划项目(2018YFB1403900),国家自然科学基金项目(91748121,90916004)资助.Supported by the National Key R&D Program of China(2018YFB1403900)and the National Natural Science Foundation of China(91748121,90916004).
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