基于能量分析的欠驱动飞行吊运系统协同控制

Cooperative control for underactuated aerial transportation systems via the energy-based analysis

中文关键词  协同吊运系统  非线性欠驱动系统  基于能量分析方法  拉塞尔不变性原理

英文关键词  cooperative transportation systems  underactuated nonlinear systems  energy-based analysis method  LaSalle’s invariance theorem

中文摘要

      旋翼无人飞行器具有灵活性强、机动性高的特点, 能够在复杂环境下运送由于地形限制地面机器人所无法 处理的物品. 然而, 当单个飞行器难以完成任务时, 需要多飞行器协同运作以提高系统的运送能力. 相比单飞行器 吊运系统而言, 多飞行器协同系统具有更高的自由度, 更为复杂的系统动态耦合; 这就为实际控制带来了巨大挑战. 在本文中, 作者提出了一种基于能量分析的控制方法. 首先构造储能函数, 在此基础上设计了控制输入, 可依据实 际需求选择控制增益, 确保控制量在约束范围内; 同时避免期望姿态的奇异性问题. 随后, 对闭环系统稳定性进行了 分析. 在与现有方法的仿真对比中可以看出, 该控制律具有良好的控制性能, 对不确定参数和外界干扰表现出了较 好的鲁棒性.

英文摘要

      With strong flexibility and high maneuverability, unmanned rotorcrafts are capable of transferring goods in complex environments that are unreachable for ground robots due to terrain constraints. However, we need several UVAs (unmanned aerial vehicles) work cooperatively to improve the system’s delivery capacity when a singular UAV cannot complete the task. Compared with single UAV transportation systems, multi-UAV cooperative systems have higher degrees of freedom and more complex system dynamic couplings, which bring great challenges to the actual control. In this paper, we present an energy-based control method. First, an energy storage function is constructed, based on which, we design a novel control scheme. The control gains can be properly selected according to the actual demand so as to ensure that the values of the control input are within the constraint range and avoid the singularity problem of the desired attitude. Then, the stability of the closed-loop system is proved. Compared with the existing methods, the proposed controller has better control performance and presents good robustness against uncertain parameters and external disturbances.