استجابة أنظمة التحكم الهجينة للطائرات بدون طيار تحت تأثير الحمولات المتغيرة والمعلقة لمسافات طويلة: دراسة نظرية ومحاكاة

Abstract

This research paper addresses the challenges of stability and control in Unmanned Aerial Vehicles (UAVs) transporting slung loads via long-span cables under the influence of continuous mass variation during long-range missions. The primary challenge lies in the complex dynamic interference resulting from the "pendulum effect" and the Slack/Taut phenomenon in the cable, in addition to parametric uncertainty caused by gradual mass depletion.

The study aims to develop an innovative hybrid control system that integrates Proportional-Integral-Derivative (PID) control, Artificial Neural Networks (ANN) for disturbance estimation, and Genetic Algorithms (GA) for real-time optimization of control gains. Simulation results in a MATLAB/Simulink environment for a 10-km flight mission demonstrated the superiority of the proposed hybrid system, achieving a 40% reduction in the payload swing angle and a 15% decrease in energy consumption, while maintaining high trajectory tracking accuracy compared to conventional controllers. These results contribute to enhancing the efficiency and safety of aerial logistics and agricultural operations.