公开(公告)号：US09146557B1

公开(公告)日：2015-09-29

申请号：US14260096

申请日：2014-04-23

Applicant: KING FAHD UNIVERSITY OF PETROLEUM AND MINERALS

Inventor： Ghufran Ahmed ,  Sami El Ferik

IPC: B64C19/00 ,  B64C17/00 ,  B64B1/20 ,  G05D1/08 ,  G05D1/10 ,  G05D1/00 ,  B64D9/00 ,  B64C39/02 ,  B64D1/22

CPC classification number: G05D1/10 ,  B64C17/00 ,  B64C19/00 ,  B64C39/024 ,  B64C2201/00 ,  B64C2201/024 ,  B64C2201/128 ,  B64C2201/14 ,  B64D1/22 ,  G05B13/04 ,  G05D1/08 ,  G05D1/0808 ,  G05D1/0816 ,  G05D1/0825 ,  G05D1/085 ,  G05D1/0858 ,  G05D1/101

Abstract: The adaptive control method for an unmanned vehicle with a slung load utilizes a feedback linearization controller (FLC) to perform vertical take off, hovering and landing of an unmanned aerial vehicle with a slung load, such as a quadrotor drone or the like. The controller includes a double loop architecture, where the overall controller includes an inner loop having an inner controller which is responsible for controlling the attitude angles and the altitude, and an outer loop having an outer controller responsible for providing the inner loop inner controller with the desired angle values. States, such as including roll, pitch, yaw and/or altitude, are selected as outputs and the feedback linearization technique is used.

Abstract translation: 具有悬挂载荷的无人驾驶车辆的自适应控制方法利用反馈线性化控制器（FLC）来执行具有诸如四旋翼无人机等的悬挂载荷的无人驾驶飞行器的垂直起飞，悬停和着陆。 该控制器包括一个双回路结构，其中总体控制器包括一个具有负责控制姿态角度和高度的内部控制器的内部回路，以及一个外部控制器，该外部控制器负责向内部循环内部控制器提供 所需的角度值。 选择诸如滚动，俯仰，偏航和/或高度的状态作为输出，并且使用反馈线性化技术。