控制理论与应用2026，Vol.43Issue(2)：259-268,10.DOI:10.7641/CTA.2024.30307
双四旋翼协同吊挂系统的非线性自适应控制
Nonlinear adaptive control of dual quadrotor cooperative suspension system
摘要
Abstract
A nonlinear adaptive control method is proposed to solve the trajectory tracking control problem for a dual quadrotor cooperative suspension system with unknown disturbances,achieving trajectory tracking of quadrotor unmanned aerial vehicles(UAVs)and suppression of load swing.Firstly,using the D'Alembert principle,the model of the dual quadrotor cooperative suspension system under unknown disturbances is established.Secondly,an appoint-time prescribed performance function is designed to constrain the trajectory tracking error of the quadrotor UAVs,avoiding collision be-tween the quadrotor UAVs.Subsequently,a novel auxiliary variable is constructed to design a nonlinear controller for the underactuated system.Additionally,a neural network is used to approximate system uncertainties and to design an adaptive law to handle external time-varying disturbances to enhance the robustness of the system.The boundedness of all errors in the closed-loop system is proven through Lyapunov stability analysis.Finally,an indoor dual quadrotor suspension transportation experimental platform is used to verify the effectiveness and practical feasibility of the proposed method.关键词
四旋翼无人机/吊挂运输/神经网络/自适应控制/预设性能Key words
quadrotor/suspension transport/neural network/adaptive control/prescribed performance引用本文复制引用
刘伟,陈谋,花翔宇..双四旋翼协同吊挂系统的非线性自适应控制[J].控制理论与应用,2026,43(2):259-268,10.基金项目
江苏省科技计划专项资金港澳台科技合作项目(BZ2023057)资助.Supported by the Jiangsu Science and Technology Program Special Funds for Hong Kong,Macao and Taiwan Science and Technology Cooperation Project(BZ2023057). （BZ2023057）
