Optimization-based preset performance control system for soft mechanical arm of fire-fighting unmanned aerial vehicle

The invention discloses an optimization-based preset performance control system for a soft mechanical arm of a fire-fighting unmanned aerial vehicle. The preset performance control system is a controlsystem that the convergence rate and overshoot of a control error meet preset conditions and the control error is converged into a pre-specified small area at the same time, and has relatively high control precision and relatively high response speed. According to the scheme, PID control is combined with the preset performance control system, and a soft mechanical arm motion controller is designed by using a PID control structure and a logarithmic form error transformation-based preset performance function, so that the control error of the soft mechanical arm can be efficiently reduced, and the stability and reliability of the fire-fighting unmanned aerial vehicle in the operation process are effectively improved. 基于优化预设性能的消防无人机软体机械臂控制系统，预设性能控制系统是一种通过控制误差的收敛速度及超调量满足预先设定的条件，同时把控制误差收敛到一个预先指定的比较小的区域内的控制系统，具有较精确的控制精度