Robust safe control for nonlinear quadrotor with a cable-suspended payload systems via control barrier function and disturbance estimator

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-09-12 DOI:10.1016/j.conengprac.2025.106564

Zhiyuan Zheng , Shiji Tong , Yunlin Zhang , Yang Zhu , Tieshan Li , Jinliang Shao

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引用次数: 0

Abstract

In quadrotor with a cable-suspended payload transportation tasks, achieving real-time safe control of the system is significantly challenging due to the system’s strong nonlinearity and underactuated nature. This challenge is further amplified by the presence of model uncertainties and external disturbances. To address this issue, we first derive the safe condition of the quadrotor with a cable-suspended payload system subjected to obstacles and construct a control barrier function accordingly. Then, considering the impact of disturbances on control performance and system safety, a unified control barrier function-uncertainty and disturbance estimator framework is developed to simultaneously ensure safety and robustness. Finally, the safe control problem is reformulated as a modified quadratic program to guarantee its engineering feasibility and is solved online using the IPOPT solver. The proposed methodology is deployed on a custom-built quadrotor, and extensive experiments in the environment with obstacles and disturbances are implemented to validate its effectiveness.

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基于控制障碍函数和扰动估计的非线性悬索四旋翼系统鲁棒安全控制

在具有悬吊载荷运输任务的四旋翼飞行器中，由于系统的强非线性和欠驱动特性，实现系统的实时安全控制具有很大的挑战性。模式不确定性和外部干扰的存在进一步放大了这一挑战。为了解决这一问题，我们首先推导了四旋翼悬索载荷系统在障碍物作用下的安全条件，并构造了相应的控制障碍函数。然后，考虑到扰动对控制性能和系统安全性的影响，提出了一种统一的控制障碍函数-不确定性和扰动估计器框架，同时保证了系统的安全性和鲁棒性。最后，将安全控制问题重新表述为一个修正的二次规划，以保证其工程可行性，并利用IPOPT求解器在线求解。提出的方法部署在定制的四旋翼飞行器上，并在障碍物和干扰环境中进行了广泛的实验以验证其有效性。

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

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.