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Unmanned aerial vehicles (UAVs) aerial recovery denotes the technology that UAVs are recovered in the air by the transport aircraft for reuse. During the recovery process, the multiple wind perturbations and fast-changing UAV’s engine shutdown will induce oscillations in the cable-drogue-UAV assembly (CDUA) with strong nonlinearities and tight coupling, which affects the safety and speed of the UAV aerial recovery. Aiming at this problem, this paper proposes a non-constraining force direction (NCFD)-based CDUA anti-disturbance trajectory control method for the first time. First, by transforming the CDUA trajectory control to the NCFD control, the coupling and nonlinear effects in the CDUA can be reduced, and the fast-changing disturbances caused by the engine shutdown can be compensated. Then, feed forward control is designed based on the relationship between the NCFD and cable shape, which is established based on the cable dynamics, to improve the response speed. Furthermore, a fixed-time anti-disturbance controller (FTADC) is designed for the flow angle of drogue-UAV assembly (DUA) given by the NCFD controller and compensates for the effects of wind and parameter perturbations. Finally, the stability of the proposed method is analyzed, and the effectiveness is demonstrated by abundant simulations.
相似文献We propose a scheme for teleportation of an arbitrary two-qubit state by using a Bell state as the quantum channel working together with an auxiliary qubit. Our scheme needs less entanglement resource, but at the cost of shortening teleportation distance. This is because that in order to successfully recover the teleported state, both sender and receiver need to implement quantum-gate operations on the shared auxiliary qubit. So, the auxiliary qubit must be close to both sender and receiver. Otherwise, the sender and receiver cannot carry out quantum-gate operations on it. Thus, our scheme is invalid for long-distance teleportation. But for short-distance teleportation, our scheme is an optimal choice because it requires less entanglement resource. From a practical point of view, our scheme is very promising for application in quantum teleportation on chip.
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