Patent ID: 9146557
Filing Date: 2015-09-29
Classification: B64C,B64D,G05B,G05D

Abstract:
1. An adaptive control method for an unmanned vehicle with a slung load, comprising the steps of: establishing a feedback linear controller, such that f(x)=M where φ represents a roll angle of the unmanned aerial vehicle, θ represents a pitch angle of the unmanned aerial vehicle, ψ represents a yaw angle of the unmanned aerial vehicle, and z represents an altitude of the unmanned aerial vehicle, e x representing control error, and Λ being a positive definite constant matrix such that y=ė x +Λe x , where y is a filtered tracking error, and x is a vector defined as where T is a period of a periodic orbit of the slung load; establishing a two level neural network such that f(x)=W calculating a neural network estimate of f(x), {circumflex over (f)}(x), as {circumflex over (f)}(x)=Ŵ transmitting a control input τ for the unmanned aerial vehicle as τ=Ŵ transmitting additional anti-swing control input to the unmanned aerial vehicle to correct for a slung load as x