标题： 基于瞬时冲击和载荷扰动的四旋翼双通道自适应NMPC 显示英文标题

标题： Dual-Channel Adaptive NMPC for Quadrotor under Instantaneous Impact and Payload Disturbances

摘要： 使用四旋翼机捕捉目标物体近年来越来越受欢迎，但大多数研究集中在捕捉轻质物体上。 捕捉具有一定质量的物体时产生的瞬时接触力，以及附着后的载荷不确定性，将对四旋翼机控制构成重大挑战。 本文提出了一种新颖的控制架构，即双通道自适应非线性模型预测控制（Dual-Channel Adaptive Nonlinear Model Predictive Control，DCA-NMPC），该架构级联了非线性模型预测控制与两个低级模型参考自适应控制器，能够抵抗剧烈冲击并适应不确定的惯性参数。 进行了数值仿真实验以验证。 显示英文摘要

摘要： Capturing target objects using the quadrotor has gained increasing popularity in recent years, but most studies focus on capturing lightweight objects. The instantaneous contact force generated when capturing objects of a certain mass, along with the payload uncertainty after attachment, will pose significant challenges to the quadrotor control. This paper proposes a novel control architecture, namely Dual-Channel Adaptive Nonlinear Model Predictive Control (DCA-NMPC), which cascades a nonlinear model predictive control with two lower-level model reference adaptive controllers and can resist drastic impact and adapt to uncertain inertial parameters. Numerical simulation experiments are performed for validation.