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OA

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.