基于嵌套饱和的四旋翼无人机吊挂负载控制器设计

Controller Design of Quadrotor UAVs with Suspended Payload Based on the Nested Saturation

针对四旋翼无人机吊挂负载系统飞行中的摆角抑制问题,考虑过快位置机动容易引起吊挂大幅度摆动,提出了一种基于嵌套饱和的四旋翼无人机吊挂负载控制器。首先,利用扩张状态观测器估计干扰,设计具有强抗扰能力的垂直位置控制器;其次,基于简化模型通过构建李雅普诺夫函数,设计控制摆角收敛的抑摆控制器;最后,基于一种嵌套饱和控制方法,设计了限制机动速度的水平位置控制器。与已有控制方法的仿真对比表明,该控制器不但能保证四旋翼无人机吊挂负载系统稳定飞行,还能在大幅度位置机动指令下有效减小最大摆幅。

Aiming at the problem of swing angle suppression in the flight of a quadrotor UAV with a suspended payload system,a quadrotor UAV with a suspended payload controller based on the nested saturation is proposed considering that too fast position maneuvers will easily cause the suspension to swing greatly.First,a vertical position controller with strong anti-disturbance capability is designed by using the extended state observer to estimate the disturbance.Second,an anti-swing controller is designed to control the convergence of the swing angle by constructing the Lyapunov function based on the simplified model.Finally,a horizontal position controller is designed to limit the maneuvering speedbased on a nested saturation control method.The simulation comparison with the existing control method shows that the proposed controller can not only ensure the stable flight of a quadrotor UAV with a suspended payload system but also effectively reduce the maximum swing under the large-scale position maneuver commands.