Event-driven based online adaptive trajectory planning and control for the UAV slung-payload transportation system

IF 5 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology Pub Date : 2025-05-05 DOI:10.1016/j.ast.2025.110255

Jiaming Cai, Bin Xian, Zhihao Zhou, Jian Yu

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引用次数: 0

Abstract

This paper proposes a novel integrated design of the real-time trajectory planner and exponential regulation controller for quadrotor unmanned aerial vehicle slung-payload transportation systems. The composite stability of the closed-loop system, rigorously proven via Lyapunov stability analysis, explicitly addresses dynamic coupling between the planner and controller. A nonlinear robust tracking controller with local exponential convergence is developed to compensate for modeling uncertainties and external disturbances. Subsequently, an event-driven based online adaptive trajectory planner, incorporating a critic neural network to derive optimal swing suppression laws, achieves 74% computational cost reduction compared to conventional time-driven methods. The method's efficacy in balancing precision and computational efficiency is validated through real-time deployment on embedded processors. Flight experimental validation demonstrates 38% improvement in swing angle suppression and 44% reduction in steady-state position error over the recent advanced method.

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基于事件驱动的无人机悬挂载荷运输系统在线自适应轨迹规划与控制

提出了一种四旋翼无人机悬吊运输系统实时轨迹规划器和指数调节控制器的集成设计方法。通过Lyapunov稳定性分析严格证明了闭环系统的复合稳定性，明确地解决了规划器和控制器之间的动态耦合问题。为了补偿建模不确定性和外部干扰，提出了一种局部指数收敛的非线性鲁棒跟踪控制器。随后，与传统的时间驱动方法相比，基于事件驱动的在线自适应轨迹规划器，结合评论家神经网络来获得最优的摆动抑制规律，可以减少74%的计算成本。通过在嵌入式处理器上的实时部署，验证了该方法在平衡精度和计算效率方面的有效性。飞行实验验证表明，与该方法相比，摆角抑制性能提高38%，稳态位置误差降低44%。

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

Aerospace Science and Technology 工程技术-工程：宇航

CiteScore

10.30

自引率

28.60%

发文量

654

审稿时长

54 days

期刊介绍： Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to: • The design and the manufacture of aircraft, helicopters, missiles, launchers and satellites • The control of their environment • The study of various systems they are involved in, as supports or as targets. Authors are invited to submit papers on new advances in the following topics to aerospace applications: • Fluid dynamics • Energetics and propulsion • Materials and structures • Flight mechanics • Navigation, guidance and control • Acoustics • Optics • Electromagnetism and radar • Signal and image processing • Information processing • Data fusion • Decision aid • Human behaviour • Robotics and intelligent systems • Complex system engineering. Etc.