针对无人机吊运系统不确定性，提出基于全局敏感度的抗干扰控制方法。
Global Sensitive-Based Input Shaping for UAV-Payload Precision Motion Control
- 用全局敏感度分析优化输入整形器，提升鲁棒性。
- 相比非鲁棒、鲁棒及极小极大设计，性能更优。
- 适合对吊运精度要求高的无人机控制系统研发者。
本文针对三维无人机-负载系统，提出一种基于全局敏感度的输入整形方法，重点提升对负载质量与绳长不确定性的鲁棒性。该方法引入博弈论中的谢帕利值（Shapley value）概念，在控制器设计中系统性地考虑参数不确定性，从而降低控制器对未知参数的敏感度。通过数值仿真验证了所提方法的有效性，对比了非鲁棒、鲁棒及极小极大设计。结果表明，基于标准全局敏感度或谢帕利值的输入整形器在性能上均有提升，为航空吊运中的不确定性感知控制提供了有前景的框架。
原文摘要 · Abstract (English)
This work presents a comprehensive analysis and design of global sensitivity-based input shapers for a 3D Unmanned Aerial Vehicle-payload system, emphasizing robustness against uncertainties in payload mass and rope length. The proposed approach also leverages the Shapley value concept in controller design to systematically account for uncertainties, thereby reducing the controller's sensitivity to unknown parameters. To validate the effectiveness of the methodology, numerical simulations are conducted, comparing the proposed controller against non-robust, robust, and minimax designs. The results demonstrate that the standard global sensitivity or Shapley-based input shapers improve performance and offer a promising framework for uncertainty-aware control in aerial payload transport.
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