双四旋翼协同吊挂系统的非线性自适应控制OA

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.