解决无人机吊挂负载偏心带来的控制难题，提升飞行稳定性。
Modeling and Control for UAV with Off-center Slung Load
- 以吊点为建模基准，重构非线性动力学模型。
- 分层控制器实现吊挂物摆角与无人机姿态的独立精准控制。
- 理论证明局部指数稳定，仿真实验验证效果优越。
带吊挂负载的无人飞行器是典型的空中运输系统。实际应用中，由于任务需求或机械干扰，吊挂点常不与无人机质心对齐，导致系统非线性动力学耦合复杂，带来严峻的运动控制挑战。现有研究多基于无人机质心建模，本文改以吊挂点为建模基准。基于新模型，设计级联控制策略：中层控制器利用吊点加速度调节吊挂物摆角，无需考虑吊挂物与无人机间的耦合；内层控制器直接跟踪无人机姿态，无需简化耦合效应。通过李雅普诺夫方法证明闭环系统局部指数稳定。最后，通过仿真与实验验证所提控制系统的有效性。
原文摘要 · Abstract (English)
Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission requirements or mechanical interference. This offset creates coupling in the system's nonlinear dynamics which leads to a complicated motion control problem. In existing research, modeling of the system are performed about the UAV's CoM. In this work we use the point of suspension instead. Based on the new model, a cascade control strategy is developed. In the middle-loop controller, the acceleration of the suspension point is used to regulate the swing angle of the slung load without the need for considering the coupling between the slung load and the UAV. An inner-loop controller is designed to track the UAV's attitude without the need of simplification on the coupling effects. We prove local exponential stability of the closed-loop using Lyapunov approach. Finally, simulations and experiments are conducted to validate the proposed control system.
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