航空科学技术2024，Vol.35Issue(9)：70-79,10.DOI:10.19452/j.issn1007-5453.2024.09.008
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
摘要
Abstract
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Key words
cooperative suspension/distributed formation control/adaptive sliding mode/prescribed performance/coupling characteristics分类
计算机与自动化引用本文复制引用
刘伟,陈谋..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[J].航空科学技术,2024,35(9):70-79,10.基金项目
航空科学基金(20200007052001) （20200007052001）
江苏省科技计划专项资金港澳台科技合作项目(BZ2023057) Aeronautical Science Foundation of China(20200007052001) （BZ2023057）
Jiangsu Province Science and Technology Plan Special Fund Hongkong Macao Taiwan Science Technology Cooperation Project(BZ2023057) （BZ2023057）
