通过多个代理重新配置的空中载荷运输:适应式滑动模式方法,用于强大的张力控制
Vinicius P Bacheti1, Luiz Miguel M N P Tavares1, Pedro Castillo2
1Department of Electrical Engineering, Federal University of Espírito Santo, Av Fernando Ferrari, 514, UFES, Vitória, ES, Brazil.
ISA transactions
|March 4, 2026
概括
本研究介绍了多个无人驾驶飞行器 (UAV) 运输悬浮载荷的强有力的控制策略,确保准确的轨迹跟踪,尽管不可预测的干扰. 现实世界的测试证实了其在具有挑战性的合作航空运输场景中的有效性和适应性.
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:
- 合作的空中运输系统面临着风暴和负载信息不准确等未经建模的干扰的挑战.
- 坚固性和适应性干扰拒绝对于在现实应用中可靠部署无人机至关重要.
研究的目的:
- 开发和验证适应性,强大的轨迹跟踪控制策略,用于多个无人机协同运输电缆悬挂载荷.
- 为了证明控制器在处理意外干扰和参数不确定性方面的有效性.
主要方法:
- 为无人机小组实施适应性,强大的控制策略.
- 进行广泛的现实世界实验,使用多达五个空中代理.
- 在各种场景下进行测试,包括外部干扰,负载参数不确定性和阵列重新配置.
主要成果:
- 拟议的控制器实现了悬浮载荷的准确轨迹跟踪.
- 通过对多种代理和干扰进行实验,证明了强度和可扩展性.
- 超过基准控制器的表现,在特定场景中显示高达83%的性能改善.
结论:
- 适应性,强大的控制策略对于悬浮载荷的合作空中运输是有效的.
- 该方法显示出显著的稳定性,适应性和可用于实际部署的适用性.
- 现实世界的实验验证控制器在复杂条件下的性能和可扩展性.
相关概念视频
01:21Distributed Loads: Problem Solving
1.2K
Beams are structural elements commonly employed in engineering applications requiring different load-carrying capacities. The first step in analyzing a beam under a distributed load is to simplify the problem by dividing the load into smaller regions, which allows one to consider each region separately and calculate the magnitude of the equivalent resultant load acting on each portion of the beam. The magnitude of the equivalent resultant load for each region can be determined by calculating...
1.2K
01:19Distributed Loads
1.0K
Distributed loads are a common type of load that engineers and scientists encounter in various practical situations. Distributed loads often refer to a type of load spread over a surface or a structure and can be modeled as continuous force per unit area.
For example, consider a bookshelf filled with books stacked vertically adjacent to each other. The weight of the books is evenly distributed over the length of the shelf. As a result, the pressure at different locations on the surface of the...
For example, consider a bookshelf filled with books stacked vertically adjacent to each other. The weight of the books is evenly distributed over the length of the shelf. As a result, the pressure at different locations on the surface of the...
1.0K
02:12Short-distance Transport of Resources
17.9K
Short-distance transport refers to transport that occurs over a distance of just 2-3 cells, crossing the plasma membrane in the process. Small uncharged molecules, such as oxygen, carbon dioxide, and water, can diffuse across the plasma membrane on their own. In contrast, ions and larger molecules require the assistance of transport proteins due to their charge or size. Transport across membranes also occurs within individual cells, playing a variety of essential roles for the plant as a whole.
17.9K
01:27Transformers in Distribution System
547
Transformers in distribution systems can be broadly categorized into distribution substation transformers and other distribution transformers. They are crucial for stepping down high transmission voltages to levels suitable for distribution and end-user applications.
Distribution substation transformers come in various ratings and typically use mineral oil for insulation and cooling. To prevent moisture and air from entering the oil, some transformers use an inert gas like nitrogen to fill the...
Distribution substation transformers come in various ratings and typically use mineral oil for insulation and cooling. To prevent moisture and air from entering the oil, some transformers use an inert gas like nitrogen to fill the...
547
01:23Maximum Power Flow and Line Loadability
662
The maximum power flow for lossy transmission lines is derived using ABCD parameters in phasor form. These parameters create a matrix relationship between the sending-end and receiving-end voltages and currents, allowing the determination of the receiving-end current. This relationship facilitates calculating the complex power delivered to the receiving end, from which real and reactive power components are derived.
662
01:21Carrier Transport
1.1K
The generation of electrical current in semiconductors is fundamentally driven by two mechanisms: drift and diffusion. These processes are essential for the functionality and performance of semiconductor-based devices.
Drift Current:
The drift of charge carriers is started by an external electric field (E). Charged particles, such as electrons and holes, experience an acceleration between collisions with lattice atoms. For electrons, this results in a drift velocity (vd) given by:
Drift Current:
The drift of charge carriers is started by an external electric field (E). Charged particles, such as electrons and holes, experience an acceleration between collisions with lattice atoms. For electrons, this results in a drift velocity (vd) given by:
1.1K