Nonlinear control of a planar vertical take-off and landing with a slung load

IF 2.7 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control Pub Date : 2024-10-11 DOI:10.1002/asjc.3517

Rogelio Lozano, Ivan Gonzalez-Hernandez, Sergio Salazar, Samantha Calderon

引用次数: 0

Abstract

This paper presents the development of the dynamical model of a planar vertical take-off and landing (PVTOL) carrying a suspended load. The complete model is obtained using the Euler–Lagrange approach. Furthermore, the synthesis of a nonlinear control is presented that stabilizes the vehicle to a desired position, and the load is stabilized as well. The stability is obtained using LaSalle invariance theorem. The performance of the obtained controller is shown in numerical simulations.

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平面吊载垂直起降的非线性控制

本文介绍了一种承载悬载的平面垂直起降（PVTOL）的动力学模型。用欧拉-拉格朗日方法得到了完整的模型。在此基础上，提出了一种综合的非线性控制方法，使车辆稳定到理想位置，同时使负载稳定。利用拉萨尔不变性定理得到了系统的稳定性。数值仿真表明了所得到的控制器的性能。

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

Asian Journal of Control 工程技术-自动化与控制系统

CiteScore

4.80

自引率

25.00%

发文量

253

审稿时长

7.2 months

期刊介绍： The Asian Journal of Control, an Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) affiliated journal, is the first international journal originating from the Asia Pacific region. The Asian Journal of Control publishes papers on original theoretical and practical research and developments in the areas of control, involving all facets of control theory and its application. Published six times a year, the Journal aims to be a key platform for control communities throughout the world. The Journal provides a forum where control researchers and practitioners can exchange knowledge and experiences on the latest advances in the control areas, and plays an educational role for students and experienced researchers in other disciplines interested in this continually growing field. The scope of the journal is extensive. Topics include: The theory and design of control systems and components, encompassing: Robust and distributed control using geometric, optimal, stochastic and nonlinear methods Game theory and state estimation Adaptive control, including neural networks, learning, parameter estimation and system fault detection Artificial intelligence, fuzzy and expert systems Hierarchical and man-machine systems All parts of systems engineering which consider the reliability of components and systems Emerging application areas, such as: Robotics Mechatronics Computers for computer-aided design, manufacturing, and control of various industrial processes Space vehicles and aircraft, ships, and traffic Biomedical systems National economies Power systems Agriculture Natural resources.