Adaptive control of quadrotor suspended load systems with variable payload and wind disturbances

IF 2.2 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

IET Control Theory and Applications Pub Date : 2024-07-11 DOI:10.1049/cth2.12714

Ruiying Wang, Jun Shen, Hongling Qiu, Bohao Zhu

引用次数: 0

Abstract

This paper introduces an adaptive control scheme for quadrotor suspended load systems, to track desired trajectory with variable payload and wind disturbances. The dynamic model of the quadrotor suspended load system is developed, taking into account the impact of the wind field described by the Dryden model. To attenuate the effects of payload variation and wind disturbances on the system, an adaptive control method based on disturbance observers is devised. Additionally, the uniform boundedness of all error signals is demonstrated. The effectiveness of the designed control method is verified through simulations, which serves to strengthen its applicability in practical applications.

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具有可变有效载荷和风干扰的四旋翼悬挂负载系统的自适应控制

本文介绍了四旋翼悬挂载荷系统的自适应控制方案，以在有效载荷可变和风干扰的情况下跟踪所需的轨迹。考虑到 Dryden 模型描述的风场的影响，建立了四旋翼悬挂载荷系统的动态模型。为了减小有效载荷变化和风扰动对系统的影响，设计了一种基于扰动观测器的自适应控制方法。此外，还证明了所有误差信号的均匀有界性。通过模拟验证了所设计控制方法的有效性，从而加强了其在实际应用中的适用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IET Control Theory and Applications 工程技术-工程：电子与电气

CiteScore

5.70

自引率

7.70%

发文量

167

审稿时长

5.1 months

期刊介绍： IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces. Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed. Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.