控制理论与应用2024，Vol.41Issue(5)：817-828,12.DOI:10.7641/CTA.2023.20423
基于事件驱动的无人机吊挂系统在线自适应轨迹规划
Event-driven based online adaptive trajectory planning for the UAV slung-payload transportation system
摘要
Abstract
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 trajectory of the quadrotor unmanned aerial vehicle(UAV)is further planned based on the optimal control law,which achieves accurate position regulation of the UAV and fast suppression of the payload's swing motion during the flight while the computation cost of the UAV's airborne processor is reduced significantly.Then,it is proved that the output weight estimation error of the improved neural network is uniformly ultimately bounded,and the convergence of the quadrotor's positioning and payload's swing suppression is proved via the Lyapunov based stability analysis.Finally,flight experimental results are presented to validate the effectiveness of the proposed trajectory planning strategy comparing with other methods.关键词
轨迹规划/事件驱动/无人机吊挂系统/摆动抑制Key words
trajectory planning/event-driven/UAV slung payload system/swing suppression引用本文复制引用
蔡佳明,鲜斌..基于事件驱动的无人机吊挂系统在线自适应轨迹规划[J].控制理论与应用,2024,41(5):817-828,12.基金项目
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). （2018YFB1403900）
