CN106707754B - 一种基于切换系统的货物搬运旋翼无人机建模及自适应控制方法 - Google Patents
一种基于切换系统的货物搬运旋翼无人机建模及自适应控制方法 Download PDFInfo
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- CN106707754B CN106707754B CN201611214295.8A CN201611214295A CN106707754B CN 106707754 B CN106707754 B CN 106707754B CN 201611214295 A CN201611214295 A CN 201611214295A CN 106707754 B CN106707754 B CN 106707754B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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CN201611214295.8A CN106707754B (zh) | 2016-12-23 | 2016-12-23 | 一种基于切换系统的货物搬运旋翼无人机建模及自适应控制方法 |
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CN201611214295.8A CN106707754B (zh) | 2016-12-23 | 2016-12-23 | 一种基于切换系统的货物搬运旋翼无人机建模及自适应控制方法 |
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CN106707754A CN106707754A (zh) | 2017-05-24 |
CN106707754B true CN106707754B (zh) | 2019-08-23 |
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Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107479371B (zh) * | 2017-07-03 | 2019-11-05 | 浙江工业大学 | 一种基于快速非奇异终端滑模的四旋翼无人机有限时间自适应控制方法 |
CN107479370B (zh) * | 2017-07-03 | 2019-11-08 | 浙江工业大学 | 一种基于非奇异终端滑模的四旋翼无人机有限时间自适应控制方法 |
CN107153425A (zh) * | 2017-07-06 | 2017-09-12 | 杨顺伟 | 无人机抗外力干扰方法及装置 |
CN107577144B (zh) * | 2017-08-22 | 2019-11-08 | 浙江工业大学 | 一种基于增强型指数趋近律的飞行器有限时间自适应姿态控制方法 |
CN109491401A (zh) * | 2017-09-13 | 2019-03-19 | 飞智控(天津)科技有限公司 | 面向自主搬运任务的无人机系统及搬运方法 |
CN108594837A (zh) * | 2018-02-12 | 2018-09-28 | 山东大学 | 基于pd-smc和rise的无模型四旋翼无人机轨迹跟踪控制器及方法 |
CN110045633A (zh) * | 2019-04-28 | 2019-07-23 | 上海交通大学 | 无人机双索运输减振控制方法、系统及存储介质 |
CN111639424B (zh) * | 2020-05-21 | 2022-05-24 | 金陵科技学院 | 基于dem的无人行车抓取安全与抓取效果检测算法 |
CN112256059A (zh) * | 2020-10-26 | 2021-01-22 | 江南大学 | 无人机系统飞行控制器设计方法 |
CN113156813B (zh) * | 2021-02-03 | 2023-01-13 | 北京航空航天大学 | 基于鸽群优化控制的带臂四旋翼无人机系统及控制方法 |
CN112947586B (zh) * | 2021-05-12 | 2021-09-10 | 北京三快在线科技有限公司 | 无人机的控制方法、装置、存储介质及旋翼式无人机 |
CN114578824B (zh) * | 2022-03-04 | 2024-05-10 | 哈尔滨工业大学 | 一种适用于空地两用机器人的未知环境自主探索方法 |
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ES2309611T3 (es) * | 2005-03-26 | 2008-12-16 | Saab Ab | Navegacion autonoma basada en la dinamica inercial y del vehiculo. |
CN203294311U (zh) * | 2013-05-31 | 2013-11-20 | 无锡同春新能源科技有限公司 | 一种快递包裹的无人机 |
CN103935509B (zh) * | 2014-04-15 | 2016-06-29 | 西安交通大学 | 一种倾转四旋翼飞行器协调吊装运输装置 |
CN106200665A (zh) * | 2016-08-25 | 2016-12-07 | 东北大学 | 携带不确定负载的四轴飞行器的建模与自适应控制方法 |
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Effective date of registration: 20210423 Address after: Room 206-10, building 16, 1616 Chuangxin Road, Songbei District, Harbin City, Heilongjiang Province Patentee after: Harbin jizuo technology partnership (L.P.) Patentee after: Harbin Institute of Technology Asset Management Co.,Ltd. Address before: 150001 Harbin, Nangang, West District, large straight street, No. 92 Patentee before: HARBIN INSTITUTE OF TECHNOLOGY |
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Effective date of registration: 20210617 Address after: Room 206-12, building 16, 1616 Chuangxin Road, Songbei District, Harbin City, Heilongjiang Province Patentee after: Harbin Institute of Technology Institute of artificial intelligence Co.,Ltd. Address before: Room 206-10, building 16, 1616 Chuangxin Road, Songbei District, Harbin City, Heilongjiang Province Patentee before: Harbin jizuo technology partnership (L.P.) Patentee before: Harbin Institute of Technology Asset Management Co.,Ltd. |
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