Trajectory Tracking Control Of Quadrotor With Hanging Load

The flight hanging transport has been widely used in military and civil fields,due to the advantages of flexible movement,vertical lifting and fixed hover,low requirements on the ground environment,and no need to consider the shape of the load.In recent years,with the development of the technology of quadrotor aircraft,the control of quadrotor with hanging load has gradually become a research hotspot.However,due to the complex characteristics of multidegree-of-freedom,strong coupling and under-actuated,quadrotor hanging flight is more difficult than single quadrotor control.This paper studies the problem of load swing suppression and trajectory tracking precision control of quadrotor with hanging load control,combining with the theory of integral backstepping,adaptive control algorithm,disturbance observer and extended state observer,the nonlinear anti-interference control strategy for quadrotor flight system with suspended load is designed.The effectiveness of the proposed control method for the trajectory tracking of the flight system of quadrotor with hanging load is verified through theoretical derivation,system stability verification and simulation experiment results analysis.The main research contents of this paper include:Firstly,the mathematical model of the single quadrotor aircraft based on dynamics is established.On this basis,the mathematical model of quadrotor with hanging load system is established by analyzing the force between the aircraft and the hanging load.The structure of the control system is designed according to the characteristics of quadrotor with hanging load system model.Secondly,in order to solve the problem that the swing of the hanging load affects the stability of the quadrotor during flight,the swinging angle controller of the hanging load is designed.At the same time,considering the influence of the system by slow time-varying disturbance,a nonlinear trajectory tracking control method based on the adaptive integral backstepping method to reduce the swing of the hanging load is studied.The simulation results show that the method can effectively reduce the constant disturbance of the system,and the swing angle controller can quickly reduce the swing of the hanging load,which improves the anti-interference ability of the system.Then,when the load on the hanging load assignment part generates oscillation,the problem of the influence of the compound disturbance observer was used to hang the load based on disturbance estimation and compensation,by designing disturbance observer and integral type anti footwork quadrotor hanging system trajectory tracking control method,the simulation results show that this method can effectively reduce the motion of the hanging load under the complex interference,enhance the anti-interference capability of the hanging load.Finally,considering that the system has unknown complex disturbance,uncertain model parameters and unknown velocity information under complex working conditions,a nonlinear trajectory tracking control method based on the extended state observer is designed to suppress the swing of the hanging load.The simulation results show that the nonlinear control method based on the extended state observer can accurately estimate the velocity information,accurately control the trajectory tracking of quadrotor with hanging load system and quickly suppress the swing of the hanging load in the flight process under unknown disturbance.