基于微分平滑的四旋翼运输系统轨迹跟踪控制

Trajectory control of a quadrotor with a cable–suspended load based on differential flatness

中文关键词  四旋翼  运输  控制  平滑  动态内反馈  

英文关键词  quadrotor  transport  control  flatness  dynamic feedback  

中文摘要

      四旋翼系绳运输系统是一种具有8个自由度和4个控制输入的欠驱动, 强耦合, 多变量的非线性系统. 为建立系统模型, 将系统解耦为双质点系绳连接子系统和四旋翼姿态控制子系统, 基于广义拉格朗日方程推导出系统的动力学模型. 然后利用微分平滑理论证明了系统是以载荷位置和四旋翼偏航角为平滑输出的微分平滑系统. 进而在等式限制条件下对平滑输出轨迹进行规划, 获得前馈开环控制律. 为抑制系统扰动并使跟踪误差收敛于原点, 利用微分平滑特性推导出动态内反馈控制器. 仿真实验验证了所提方法的有效性

英文摘要

      A quadrotor with a cable-suspended load is considered, which has 8 degrees of freedom and 4 degrees controls.This system is decoupled into 2 subsystem: quadrotor attitude control subsystem and double points link subsystem. Based on Lagrange equation, dynamical model is obtained. The quadrotor-load system is proved to be a differential flatness system with the load position and the quadrotor yaw serving as the flatness outputs. Trajectory in the output space is planed with equality constraint. Then open loop control law is obtained. In order to depress system disturbances and ensure the trajectory errors converge to origin, a nonlinear controller which is named endogenous dynamic feedback is conducted. Simulation results demonstrate the effectiveness of the proposed method.