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在存在不确定性的情况下,使用自适应的第二级连续控制进行四旋翼的起
Sandeep Gupta1, Anuj Nandanwar2, Narendra Kumar Dhar3
1Department of Electrical Engineering, Indian Institute of Technology Kanpur, Kanpur, 208016, India. sngupta@iitk.ac.in.
Scientific reports
|February 12, 2026
概括
本研究介绍了一种适应性控制策略,使四旋翼能够在垂直表面上稳定地立. 这提高了检查和监督任务的耐久性和能源效率.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 航空航天工程 航空航天工程
背景情况:
- 四旋翼无人机对于检查和监视至关重要.
- 目前的局限性包括短任务耐力和高能耗.
- 与垂直表面 (杆) 稳定的接触提供了一个解决方案.
研究的目的:
- 开发一种适应性控制策略,使稳定的四旋翼在垂直表面上立.
- 加强检查和监督的任务耐久性和能源效率.
- 为了解决模型的不确定性和外部干扰在息机动期间.
主要方法:
- 提出了一个自适应的第二级连续控制 (ASOCC) 策略.
- 引入了一个有限时间的收干扰观察器来处理不确定性和干扰.
- 建立了观察员控制器系统的闭环利亚普诺夫稳定性.
主要成果:
- 在各种条件下,广泛的模拟验证了ASOCC策略.
- 对比分析显示,比现有方法更高的精度,稳定性和抗扰性.
- 实验试验证实了室内和室外环境中垂直墙壁上的稳定立.
结论:
- 在ASOCC的战略使得稳定的四旋翼立在垂直表面.
- 这大大提高了检查和监控的耐久性和能源效率.
- 拟议的方法在现实条件下显示出高性能和稳定性.
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