针对存在未知扰动的多四旋翼无人机协同吊挂系统(Multi-quadrotor cooperative supension system，MQCSS)，提出一种具有避碰和性能约束的分布式自适应积分反步跟踪控制(Distributed adaptive integral backstepping tracking control，DAIBC)方法。首先，设计新型的有限时间性能函数(Finite time performance function，FTPF)和人工势函数分别用于处理负载的跟踪约束和四旋翼无人机(Quadrotor unmanned aerial vehicle，QUAV)之间的避碰问题。然后，构造一种积分型的辅助变量并结合动态面技术设计反步控制器，实现四旋翼无人机的分布式编队运输负载。同时，将动态面技术与自适应调节机制相结合，对系统存在的未知干扰进行抑制。接着，给出严格的Lyapunov稳定性分析，证明闭环系统所有信号的最终一致有界。最后，通过数值对比仿真和实飞实验结果验证了所提方法的有效性。
Distributed Collision Avoidance Tracking Control for Quadrotor Cooperative Suspension System Under Performance Constraints
This paper presents a distributed adaptive integral backstepping tracking control(DAIBC)method for a multi-quadrotor cooperative suspension system(MQCSS)under unknown disturbances.The proposed approach ad-dresses both collision avoidance and performance constraints.Initially,a novel finite-time performance function(FTPF)and an artificial potential function are formulated to manage load tracking constraints and prevent colli-sions among quadrotor unmanned aerial vehicle(QUAV).An integral auxiliary variable is then introduced,and a backstepping controller is designed using dynamic surface technology to facilitate the distributed formation trans-port of quadrotors.Additionally,the dynamic surface technique is integrated with an adaptive adjustment mechan-ism to mitigate unknown disturbances within the system.A rigorous Lyapunov stability analysis demonstrates the ultimate uniform boundedness of all signals in the closed-loop system.Finally,the effectiveness of the proposed method is validated through numerical comparative simulations and real flight experiments.
Prescribed performanceadaptive controlartificial potential fielddistributed formationintegral back-stepping control
万方数据
维普
