论文标题
基于多载有效载荷的输入输出反馈线性化线性化的指数稳定控制器
An Input-Output Feedback Linearization based Exponentially Stable Controller for Multi-UAV Payload Transport
论文作者
论文摘要
在本文中，提出了一个稳定稳定的轨迹跟踪控制器，用于多uav有效载荷运输。多uav有效载荷系统在无人机和有效载荷框架的垂直刚性链接之间具有二-DOF磁球接头，因此无人机可以自由滚动或俯仰。这些垂直链接牢固地连接到有效载荷上，无法移动。为完整的有效载荷系统系统得出了输入输出反馈线性化模型，以及推力矢量控制有效载荷的轨迹控件。关于跟踪控制定律的理论分析表明，控制定律是指数稳定的，从而确保沿期望轨迹的安全运输。为了验证拟议的控制定律的性能，提供了数值模拟以及高保真凉亭实时模拟的结果。接下来，针对两种实际情况分析了提议的控制器的鲁棒性：有效载荷和有效载荷质量不确定性的外部干扰。结果清楚地表明，所提出的控制器在实现指数稳定的轨迹跟踪时具有稳健性和计算效率。
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the payload frame, so the UAVs can roll or pitch freely. These vertical links are rigidly attached to the payload and cannot move. An input-output feedback linearized model is derived for the complete payload-UAV system along with thrust vectoring control for trajectory tracking of the payload. The theoretical analysis on tracking control laws shows that control law is exponentially stable, thus guaranteeing safe transportation along the desired trajectory. To validate the performance of the proposed control law, the results for a numerical simulation as well as a high-fidelity Gazebo real-time simulation are presented. Next, the robustness of the proposed controller is analyzed against two practical situations: External disturbance on the payload and payload mass uncertainty. The results clearly indicate that the proposed controller is robust and computationally efficient while achieving exponentially stable trajectory tracking.
