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Nonlinear control for the extended model of the load-suspended UAV based on the experiments

机译：基于实验的负载悬挂无人机扩展模型的非线性控制

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In recent years, to solve the problem of shortage of delivery staff caused by high demand in the delivery industry, it is expected to carry packages while a UAV tows them. However, when towing, the control performance of the aircraft deteriorates due to the influence of the weight and shaking of the towed object, so it is necessary to control the aircraft in consideration of the behavior of the towed object. To address this issue, an input design with hierarchical linearization has been proposed for the UAV that tows an object, but it has not been experimentally verified. In this paper, we conducted experiments and confirmed the existence of the modeling error. Thus, we built a model reflecting the actual structure of towing of UAV. We applied the redesigned controller to the simulation model and verified its performance.
机译：近年来，为了解决送货业造成的高需求造成的发货人员短缺问题，预计将携带包裹，而无人机会带来它们。 然而，当牵引时，飞机的控制性能由于牵引物体的重量和摇动的影响而劣化，因此需要考虑牵引物体的行为来控制飞行器。 为了解决这个问题，已经提出了具有分层线性化的输入设计，为播离对象的UAV，但它尚未经过实验验证。 在本文中，我们进行了实验并确认了建模误差的存在。 因此，我们建立了一种模型，反映了无人机牵引的实际结构。 我们将重新设计的控制器应用于仿真模型并验证了其性能。

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