用部分反馈线性化控制悬吊无人机，稳定悬挂负载。
Partial Feedback Linearization Control of a Cable-Suspended Multirotor Platform for Stabilization of an Attached Load
- 基于部分反馈线性化，利用系统耦合动力学实现稳定控制。
- 仿真与实验验证了在风扰、噪声和参数不确定下仍具鲁棒性。
- 仅依赖机载传感器，适合户外施工场景中的起重机应用。
本文提出一种基于部分反馈线性化（PFL）的新型控制方法，用于稳定悬吊式空中平台及其所挂负载。该系统适用于建筑工地中涉及起重机的应用，如重型物体的抓取与运输。所提方法考虑了系统的欠驱动特性，并利用其耦合动力学实现稳定。通过数值稳定性分析表明，这些耦合项对系统整体稳定至关重要。同时，在外部风扰、传感器噪声及系统动态不确定性条件下进行了鲁棒性分析。由于目标应用场景为户外施工，控制策略仅依赖机载传感器，具备实用性。通过大量仿真与实验测试，验证了该方法的有效性。
原文摘要 · Abstract (English)
In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction sites involving cranes, such as the holding and transportation of heavy objects. Our proposed control approach considers the underactuation of the whole system while utilizing its coupled dynamics for stabilization. We demonstrate using numerical stability analysis that these coupled terms are crucial for the stabilization of the complete system. We also carried out robustness analysis of the proposed approach in the presence of external wind disturbances, sensor noise, and uncertainties in system dynamics. As our envisioned target application involves cranes in outdoor construction sites, our control approaches rely on only onboard sensors, thus making it suitable for such applications. We carried out extensive simulation studies and experimental tests to validate our proposed control approach.
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