Attitude wind stabilization control of inspection vehicle based on Stackelberg game theory

• Published in: Journal of physics. Conference series Vol. 2992; no. 1; pp. 12027 - 12035
• Main Authors: Liang, Chuanze, Zhu, Weijie, Qiu, Yafeng
• Format: Journal Article
• Language: English
• Published: Bristol IOP Publishing 01.04.2025
• Subjects: Algorithms; Attitude control; Control methods; Control theory; Game theory; Image quality; Inspection; Kinematics; Machine learning; Neural networks; Strategy; Ultraviolet detectors; Wind effects
• ISSN: 1742-6588; 1742-6596
• DOI: 10.1088/1742-6596/2992/1/012027

Aiming at the problem that the electric power inspection vehicle is subject to wind field perturbation to produce attitude changes, resulting in the image quality of the UV detector carried by the vehicle being affected, a vehicle attitude anti-wind disturbance control method based on the Stackelberg game theory is proposed. According to the flight principle of the vehicle, the kinematics and dynamics model of attitude rotation and the wind field disturbance model are established, the control algorithm is designed, the optimal strategy in the game process is solved by using reinforcement learning and neural network (NN) to solve the problem of vehicle attitude affected by the disturbance, the robustness and adaptability of vehicle attitude control are enhanced, and the stability of the controller is proved based on Lyapunov theory. Finally, a simulation is carried out for the above problems, and the results verify the effectiveness of the designed control strategy.