无人机吊挂载荷系统的轨迹跟踪模型预测控制
Journal: 空天科技 DOI: 10.12238/ast.v1i1.13707
Abstract
针对多障碍物环境下四旋翼无人机吊挂载荷系统的避障轨迹跟踪控制问题，该研究提出了一种基于模型预测控制(Model Predictive Control, MPC)的避障轨迹跟踪算法。该方法采用MINVO技术构建体积最小的外接多面体，用于对障碍物进行紧凑建模，并重构避障约束，以提升避障效率和精度。针对空间约束等因素导致的参考轨迹不可达问题，引入人工变量，将轨迹规划与跟踪控制统一集成到一个优化框架中，通过人工变量生成可跟踪的周期性参考轨迹，从而提高系统的可达性和鲁棒性。在考虑状态约束、控制输入约束及避障约束的基础上，构造了完整的MPC优化问题。最后，通过仿真验证了所提算法在轨迹跟踪精度、载荷摆动抑制和避障性能方面的有效性。
Keywords
无人机吊挂载荷系统；模型预测控制；轨迹跟踪；避障
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[16] D. Limon, A. Ferramosca, I. Alvarado, T. Alamo, Nonlinear MPC for tracking piece-wise constant reference signals, IEEE Transactions on Automatic Control 63 (2018) 3735-3750.
[17] X. Liang, Y. Fang, N. Sun, H. Lin, Nonlinear hierarchical control for unmanned quadrotor transportation systems, IEEE Transactions on Industrial Electronics 65 (2017) 3395-3405.
[18] G. Tartaglione, E. D’Amato, M. Ariola, P.S. Rossi, T.A. Johansen, Model predictive control for a multi-body slung-load system, Robotics and Autonomous Systems 92 (2017) 1-11.
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[20] S. Liu, F. Dai, S. Zhang, Y. Wang, Z. Wang, Trend-aware motion planning for wheeled mobile robots operating in dynamic environments, International Journal of Advanced Robotic Systems 17 (2020) 1729881420925292.
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[23] J.A. Andersson, J. Gillis, G. Horn, J.B. Rawlings, M. Diehl, CasADi: A software framework for nonlinear optimization and optimal control, Mathematical Programming Computation 11 (2019) 1-36.
[24] A. Wächter, L.T. Biegler, On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming, Mathematical Programming 106 (2006) 25-57.
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