发表机构
Louisiana State University; GE Aerospace（路易斯安那州立大学; GE航空航天公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对无人机-载荷系统，设计基于全局灵敏度和Shapley值的输入整形器控制器，经仿真验证其相比非鲁棒等控制器可提升性能，为航空载荷运输的不确定性感知控制提供新框架。
AI 中文摘要
本研究针对三维无人机-载荷系统，开展基于全局灵敏度的输入整形器的综合分析与设计，重点关注对载荷质量和绳长不确定性的鲁棒性。所提方法在控制器设计中引入Shapley值概念，系统考虑不确定性，从而降低控制器对未知参数的灵敏度。为验证该方法的有效性，开展数值仿真，将所提控制器与非鲁棒、鲁棒及极小极大设计进行对比。结果表明，标准全局灵敏度或基于Shapley值的输入整形器可提升性能，为航空载荷运输中的不确定性感知控制提供了有前景的框架。
英文摘要
This work presents a comprehensive analysis and design of global sensitivity-based input shapers for a 3D Unmanned Aerial Vehicle-payload system, emphasizing robustness against uncertainties in payload mass and rope length. The proposed approach also leverages the Shapley value concept in controller design to systematically account for uncertainties, thereby reducing the controller's sensitivity to unknown parameters. To validate the effectiveness of the methodology, numerical simulations are conducted, comparing the proposed controller against non-robust, robust, and minimax designs. The results demonstrate that the standard global sensitivity or Shapley-based input shapers improve performance and offer a promising framework for uncertainty-aware control in aerial payload transport.
