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Sensor-Enabled Nested Networked Control for Speed Synchronization and Swing Damping in Air-Ground Collaborative

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  • 1School of Logistics, Beijing Wuzi University, Beijing 101126, China.

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Summary
This summary is machine-generated.

This study introduces a novel control architecture for unmanned aerial vehicle (UAV) logistics, enhancing payload stability and velocity synchronization for ground targets. The system effectively mitigates sensor noise and disturbances for robust cooperative delivery.

Keywords:
air ground collaborative distributionnested networked control systemssensor noisespeed synchronizationswing angle stabilization

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Area of Science:

  • Robotics and Control Systems
  • Networked Control Systems
  • Aerospace Engineering

Background:

  • The burgeoning low-altitude economy relies on efficient Unmanned Aerial Vehicle (UAV) logistics.
  • Cooperative UAV-ground vehicle systems face challenges due to sensor noise and disturbances impacting control.
  • Precise velocity synchronization and swing angle stabilization are critical for UAV payload delivery systems.

Purpose of the Study:

  • To develop a robust control architecture for quadrotor UAV slung-load systems.
  • To achieve simultaneous velocity tracking of a moving ground target and payload swing angle stabilization.
  • To mitigate the effects of sensor noise and external disturbances in networked control systems.

Main Methods:

  • Established a dynamic model of the quadrotor UAV slung-load system.
  • Proposed a three-layer nested networked closed-loop control architecture.
  • Utilized Lyapunov methods for theoretical stability analysis under bounded delays.

Main Results:

  • The proposed architecture effectively suppresses payload swing and controls velocity synchronization error.
  • Demonstrated strong robustness against sensor noise and sudden disturbances.
  • Validated the system's stability and performance through simulations.

Conclusions:

  • The developed control solution enhances the precision and robustness of sensor-enabled networked control systems.
  • This approach improves the reliability of UAV logistics delivery in complex dynamic environments.
  • Offers a pathway for more stable and accurate autonomous payload transportation.