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
Distributed Adaptive Sliding Mode Control of Multi-Quadrotor Cooperative Suspension System Based on Coupling Characteristics
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…查看全部>>
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 …查看全部>>
刘伟;陈谋
南京航空航天大学,江苏 南京 211106南京航空航天大学,江苏 南京 211106
计算机与自动化
协同吊挂分布式编队控制自适应滑模预设性能耦合特性
cooperative suspensiondistributed formation controladaptive sliding modeprescribed performancecoupling characteristics
《航空科学技术》 2024 (9)
70-79,10
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) Aeronautical Science Foundation of China(20200007052001)Jiangsu Province Science and Technology Plan Special Fund Hongkong Macao Taiwan Science Technology Cooperation Project(BZ2023057)
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