28590

طراحي كنترل كننده توزيع شده اجماعي براي جابجايي بار معلق توسط بالگردهاي خودگردان

دكتري تخصصي (PhD)

مهندسي مكانيك- طراحي كاربردي شاخه تخصصي ديناميك، كنترل و ارتعاشات

1394

1402/2/22

اسماعيل خان ميرزا

پرديس دانشگاهي - دانشكده مهندسي مكانيك

در اين پژوهش براي نخستين بار سعي بر اين است تا با در نظر گرفتن ديناميك ذاتي غيرخطي عامل¬ها و تعامل ديناميكي ناشي از بار معلق با كابل، به ماموريت حمل بار از دريچه كنترل اجماعي سيستم¬هاي چند عامله خودگردان در حضور قيدهاي ورودي و قيدهاي حالت نگاه شود بطوري كه منتج به عملكرد بهتر گردد. بدين منظور، ابتدا ديناميك بالگرد و بار متصل با كابل استخراج شده است. سپس كنترل اجماعي با رويكرد معادله ريكاتي وابسته به حالت براي انواع روش¬هاي بدون راهبر و با راهبر توسعه داده شده است. در ادامه شرايط اجماع¬پذيري براي كنترل اجماعي سيستم-هاي چند عامله كه داراي كوپل ديناميكي مي¬باشند، مساله حمل بار توسط چند بالگرد يكي از مصاديق اين سيستم چند عامله مي¬باشد، بررسي شده است و بر اساس پايداري لياپانوف و تعميم غيرخطي نابرابري گرانول شرايط لازم و كافي اجماع¬پذيري سيستم چند عامله داراي ارتباط فيزيكي بين عامل¬ها استخرج شده است. همچنين چارچوبي براي طراحي كنترل اجماعي براي ماموريت حمل بار توسط چند بالگرد از دو نگاه سيستم¬هاي چند عامله همسان و غيرهمسان بر اساس روش كنترل بهينه معادله ريكاتي وابسته به حالت توسعه داده شد. در انتها ضمن شبيه سازي، تحليل و نتيجه¬گيري كنترل كننده اجماعي طراحي شده براي سيستم حمل بار اجماعي توسط چند بالگرد، در مورد پژوهش¬هاي باز براي آينده پيشنهادهايي مطرح شده است.

1402/05/23

Consensus Distributed Controller Design Applicable to Slung Load Transportation of Cooperative RPHs

5/11/2024 12:00:00 AM

Compared with the fixed-wing unmanned aerial vehicles (UAVs), unmanned helicopters have significant advantageous characteristics of hovering, take-off and landing vertically, low altitude flight and multi-attitude flight. These qualities have made them suitable for a variety of military and civilian applications. The unmanned helicopter is a special vehicle, which is a dynamic system of 6 degrees of freedom (6-DOF), underactuated, multiple-input multiple-output (MIMO), strong coupling and nonlinear UAV. Consequently, the development of reliable unmanned helicopter flight control system has attracted an increasing attention both from academic and industrial point of view recently. The primary drawback of remot payload helicopters (RPHs) is their limited payload and range due to their small size. It is therefore of great interest to study collaborative manipulation between multiple RPHs to increase the payload based on cable-suspended collaborative load transportation. This thesis is concerned with optimal consensus control of multi-agent systems, which are characterized by the interconnection of n subsystems, where there exist physical connections between subsystems. Main approach is, in fact, a new extension of the hierarchical finite horizon state-dependent Riccati equation (SDRE) leaderless and leader-follower consensus control methods and use of the Lyapunov method of stability analysis to determine a new sufficient condition to establish a suitable communication topology among controllers of the studied systems to consider local and global goals and stabilize them through decentralized control. Also, we obtained a minimum sufficient condition for the design of a hierarchical finite horizon state-dependent Riccati equation consensus controller such that the consensusablility of the multi-agent system is satisfied under effect of coupling terms. Furthermore, the Lyapunov direct theory and nonlinear generalization of the Gronwall inequality is applied to achieve sufficient condition for consensusability. Moreover, this thesis presents a consensus control law for suspended load transportation systems or multi-lift systems as dynamically interconnected multi-agent systems. The developed framework can be applied to design suboptimal consensus control via the SDRE in both affine and non-affine systems. The suspended load connected to n helicopter with n wires leads to a constrained multibody system that can be modeled by applying the principle of virtual work by D’Alember and Gauss’s principle of Least constraint where introduced by Udwadia-Kalaba motion equation approach. Also, a framework for the design of consensus control for the cargo carrying mission by several helicopters from the two perspectives of hemogeneous and heterogenous multi-agent systems was developed based on the state-dependent Riccati equation optimal control method. Indeed, the theoretical analysis and simulation results verify the validity and efficiency of the proposed consensus controller structure. At the end, conclusion and summing up about the developed SDRE based consensus controller for multi-helicopters load transportation system are stated and some suggestions have been made about open issues for the future researches.

بالگرد , حمل بار , سيستم چند عامله خودگردان , كنترل اجماعي توزيع شده

Helicopter , Multilift load transportation , MAS , consensus control

Behdad Geranmehr

Dr. Esmaeil Khan Mirza