引用本文:刘伟,陈谋,花翔宇.双四旋翼协同吊挂系统的非线性自适应控制[J].控制理论与应用,2026,43(2):259~268.[点击复制]
LIU Wei,CHEN Mou,HUA Xiang-yu.Nonlinear adaptive control of dual quadrotor cooperative suspension system[J].Control Theory & Applications,2026,43(2):259~268.[点击复制]
双四旋翼协同吊挂系统的非线性自适应控制
Nonlinear adaptive control of dual quadrotor cooperative suspension system
摘要点击 159  全文点击 20  投稿时间：2023-05-08  修订日期：2025-04-08
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DOI编号  10.7641/CTA.2024.30307
  2026,43(2):259-268
中文关键词  四旋翼无人机  吊挂运输  神经网络  自适应控制  预设性能
英文关键词  quadrotor  suspension transport  neural network  adaptive control  prescribed performance
基金项目  江苏省科技计划专项资金港澳台科技合作项目(BZ2023057)资助.
作者单位E-mail
刘伟 南京航空航天大学自动化学院 wei-lau@nuaa.edu.cn 
陈谋* 南京航空航天大学自动化学院 chenmou@nuaa.edu.cn 
花翔宇 南京航空航天大学自动化学院  
中文摘要
      针对双四旋翼协同吊挂系统存在未知干扰的轨迹跟踪控制问题, 本文提出了一种非线性自适应控制方法, 实现 了四旋翼无人机的轨迹跟踪和负载的摆动抑制. 首先, 利用达朗贝尔原理建立未知扰动下的双四旋翼协同吊挂系统模 型; 其次, 设计一种指定时间预设性能函数对四旋翼无人机的轨迹跟踪误差进行约束, 避免四旋翼无人机之间的碰撞; 然后, 构造一种新型辅助变量用于设计欠驱动系统的非线性控制器; 同时, 考虑到系统不确定和未知扰动的影响, 利用 神经网络逼近系统不确定以及设计自适应调节律处理外部时变扰动, 以增强系统的鲁棒性, 通过Lyapunov稳定性分析 证明了闭环系统的所有误差都是有界的; 最后, 利用室内的双四旋翼吊挂运输实验平台进行实验研究, 验证了该方法的 有效性和实际可行性.
英文摘要
      A nonlinear adaptive control method is proposed to solve the trajectory tracking control problem for a dual quadrotor cooperative suspension system with unknown disturbances, achieving trajectory tracking of quadrotor unmanned aerial vehicles (UAVs) and suppression of load swing. Firstly, using the D’Alembert principle, the model of the dual quadrotor cooperative suspension system under unknown disturbances is established. Secondly, an appoint-time prescribed performance function is designed to constrain the trajectory tracking error of the quadrotor UAVs, avoiding collision between the quadrotor UAVs. Subsequently, a novel auxiliary variable is constructed to design a nonlinear controller for the underactuated system. Additionally, a neural network is used to approximate system uncertainties and to design an adaptive law to handle external time-varying disturbances to enhance the robustness of the system. The boundedness of all errors in the closed-loop system is proven through Lyapunov stability analysis. Finally, an indoor dual quadrotor suspension transportation experimental platform is used to verify the effectiveness and practical feasibility of the proposed method.