Control structure design with constraints for a slung load quadrotor system

H. Ergezer, K. Leblebicioğlu
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Abstract

We propose a control structure for a quadrotor carrying a slung load with swing-angle constraints. This quadrotor is supposed to pass through the waypoints at specified speeds. First, a cascaded PID autopilot is designed, which adaptively gives attention to position and speed requirements as a function of their errors. Its parameters are found from an optimization problem solved using the PSO algorithm. Second, this controller’s performance is improved by adding the Complementary Controller employing an ANN. 5. Training data for the ANN is created by solving optimal control problems. The ANN is activated when the swing angle constraint is about to be violated. It is trained using optimal control values corresponding to the cases where the swing angle falls in a particular band about the upper swing angle constraint. Simulations are performed in a MATLAB environment. Finally, some of the simulation results are validated on a physical system.
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悬挂载荷四旋翼系统的约束控制结构设计
提出了一种具有摆角约束的四旋翼飞行器悬挂载荷控制结构。这架四旋翼飞机应该以规定的速度通过航路点。首先,设计了一种自适应地关注位置和速度要求作为误差函数的级联PID自动驾驶仪。它的参数是由一个用粒子群算法求解的优化问题得到的。其次,通过添加采用人工神经网络的互补控制器,提高了控制器的性能。5. 人工神经网络的训练数据是通过求解最优控制问题生成的。当摆角约束即将被打破时,人工神经网络被激活。它是用最优控制值来训练的,这些最优控制值对应于摆动角落在关于上摆动角约束的特定波段的情况。在MATLAB环境下进行了仿真。最后,在实际系统上验证了部分仿真结果。
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