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Nonlinear Control for Aerial Transportation Systems With Double-Pendulum Swing Effects

机译：双摆摆效应的空运系统非线性控制

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摘要

When transporting cargoes or goods by aerial vehicles, the hook's rotation around the suspension point, together with the payload's rotation around the hook, causes the double-pendulum swing effects. However, this phenomenon is always neglected to simplify the control problem. With a more accurate description of the aerial transportation system driven by quadrotors, the analysis and careful consideration of the double-pendulum swing characteristic will improve the control effect. Nevertheless, the control design is difficult due to the increased system degrees of freedom and the more complicated dynamic coupling. To deal with these practical issues, a novel regulation oriented nonlinear antiswing controller is designed for aerial transportation systems with consideration of double-pendulum swing effects. By fabricating a new energy function, the nonlinear controller is proposed with the coupling terms incorporated to enhance the transient performance. Subsequently, in this article, we provide rigorous stability analysis based on Lyapunov theory. Experimental results are presented to demonstrate that the proposed control scheme exhibits better control performance in terms of increased transient response. The proposed method not only gives the analysis for aerial transportation systems with double-pendulum swing effects, but also solves the control problem with such behavior in the three-dimensional space, thus bringing inspiration to the effective control of other similar suspension systems.
机译：当通过空中车辆运输货物或货物时，悬挂点周围的钩子旋转，以及挂钩周围的有效载荷的旋转，导致双摆动效果。然而，这种现象总是被忽视，以简化控制问题。通过对由四轮运动器驱动的空中运输系统的更准确描述，分析和仔细考虑双摆摆动特性将提高控制效果。然而，由于系统自由度增加和更复杂的动态耦合，控制设计很困难。为了处理这些实际问题，专为一部分用于空中运输系统而设计了一种新型的导向非线性抗矿控制器，考虑到双摆型效果。通过制造新的能量功能，提出了非线性控制器，其中包含耦合术语来增强瞬态性能。随后，在本文中，我们提供基于Lyapunov理论的严格稳定性分析。提出了实验结果表明，在增加的瞬态响应方面，所提出的控制方案表现出更好的控制性能。所提出的方法不仅给出了具有双摆动效果的空中运输系统的分析，而且还解决了三维空间中这种行为的控制问题，从而使灵感成为对其他类似悬架系统的有效控制。

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  • 来源
    《IEEE Transactions on Industrial Electronics》 |2021年第7期|6020-6030|共11页
  • 作者

    Liang Xiao; Zhang Peng; Fang Yongchun; Lin He; He Wei;

  • 作者单位

    Nankai Univ Coll Artificial Intelligence Inst Robot & Automat Informat Syst Tianjin 300350 Peoples R China|Nankai Univ Tianjin Key Lab Intelligent Robot Tianjin 300350 Peoples R China;

    Nankai Univ Coll Artificial Intelligence Inst Robot & Automat Informat Syst Tianjin 300350 Peoples R China|Nankai Univ Tianjin Key Lab Intelligent Robot Tianjin 300350 Peoples R China;

    Nankai Univ Coll Artificial Intelligence Inst Robot & Automat Informat Syst Tianjin 300350 Peoples R China|Nankai Univ Tianjin Key Lab Intelligent Robot Tianjin 300350 Peoples R China;

    Nankai Univ Coll Artificial Intelligence Inst Robot & Automat Informat Syst Tianjin 300350 Peoples R China|Nankai Univ Tianjin Key Lab Intelligent Robot Tianjin 300350 Peoples R China;

    Nankai Univ Coll Artificial Intelligence Inst Robot & Automat Informat Syst Tianjin 300350 Peoples R China|Nankai Univ Tianjin Key Lab Intelligent Robot Tianjin 300350 Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Transportation; Payloads; Couplings; Aerospace electronics; Dynamics; Stability analysis; Cranes; Aerial transportation systems; energy-based analysis method; Lyapunov techniques;

    机译：运输;有效载荷;联轴器;航空航天电子;动力学;稳定性分析;起重机;空中运输系统;基于能量的分析方法;Lyapunov技术;

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