With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping of payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly unknown) payload cause considerable changes in the system dynamics. However, a systematic control solution to tackle such interchanging dynamical behavior is still missing. This paper proposes a switched dynamical framework to capture the interchanging dynamics of a quadrotor during vertical operations and a robust adaptive control solution to tackle such dynamics when it is unknown. The stability of the closed‐loop system is studied analytically and the effectiveness of the proposed solution is verified via simulations.

中文翻译：

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介绍用于垂直运行的四旋翼的开关自适应控制

随着智能运输的出现，四旋翼机正成为在紧急疏散，建筑工程等过程中提升或降低有效载荷时有吸引力的解决方案。在这种操作过程中，有效载荷的动态变化（可能未知）会导致系统动力学发生重大变化。但是，仍然缺少解决这种相互交换的动力学行为的系统控制解决方案。本文提出了一个切换式动力学框架，以捕获垂直运行期间四旋翼的互换动力，并提出了一种鲁棒的自适应控制解决方案来解决此类动力（未知时）。通过分析研究闭环系统的稳定性，并通过仿真验证了所提出解决方案的有效性。