Research On Trajectory Tracking And Disturbance Suppression Of A Class Of UAV With Load

With the popularization and development of UAV technology,the research and application of UAV control has attracted wide attention from domestic and foreign scholars.In recent years,drone handling has gradually approached everyone’s vision.At present,the mainstream handling methods mainly include gripper handling and hanging handling.UAV transportation is mainly used in fire rescue,transportation of goods in extreme geographical areas,and the emerging contactless express delivery in recent years due to the impact of domestic and foreign epidemics.Constrained by the limited load capacity of a single UAV and the inability to guarantee battery life,multi-UAVs are derived from the UAV handing strategy for coordinated transportation.In the process of coordinated handling of multi-UAVs,issues such as UAV trajectory tracking and pattern formation need to be considered.Secondly,the load will increase the original strong coupling of the UAV.In the process of UAV kinematics and dynamics modeling,it is also necessary to consider the impact of load dynamics on the UAV.Therefore,the research on UAV handling research issues is mainly summarized into the following three aspects: 1)Analysis of the impact of load dynamics on the original UAV dynamics-kinematics model;2)UAV formation and trajectory tracking;3)The controller design.In order to solve the problems raised,the main contents of this paper are as follows:First,taking a group of simple second-order integrator models as the research object,a distributed control algorithm based on the principle of internal model is proposed to realize the trajectory tracking and formation of multi-agent systems,and the corresponding numerical simulation results are given.Secondly,on this basis,the single UAV carrying load problem and the multi-UAVs cooperative handling problem were discussed separately.Through reasonable assumptions and simple experimental demonstrations,the impact of the load on the UAV dynamics was considered as the external string-like signal.Disturbance forms are based on the known disturbances and the unknown disturbances to carry out modeling analysis and controller design.Especially for the unknown disturbances,a distributed controller based on nonlinear internal models is designed,and based on Lyapunov’s first and second rules are used to analyze system stability,and design corresponding numerical simulation experiments to verify the realization of trajectory tracking,formation generation and disturbance suppression problems under the designed algorithm.Finally,build a Simulink UAV physical model,and import the actual experimental test UAV,including its real shape,quality,physical center,and connection method,into the Simulink environment to form inputs,feedback,controllers,UAV entities,and system outputs to generate a fully closed-loop test system.And through Code Generation,generate the code required by the controller module in the UAV flight control,and use the real-time simulator to pass the Hardware-in-the-Loop(HIL)test to synchronize the virtual system with the real hardware which educes UAV test cost and test time.Finally,the Vicon-Crazyflie experimental platform was selected to verify the effectiveness of the designed multi-UAV collaborative handling algorithm.