Due to its vast potential for applications in agricultural harvesting, the tethered unmanned aerial vehicle (UAV) has garnered considerable interest. However, the anti-disturbance control of this system remains fraught with obstacles, stemming primarily from its inherent nonlinearity, unpredictable airflow disturbances, unmeasurable tether tension, and the changes in the center of gravity during operation. We propose a comprehensive dynamic model for the operational tethered unmanned aerial vehicle with considering the center of gravity shift. Because of obstructions caused by branches and leaves, the tethered UAV can't reach fruits inside the tree. Therefore, two deformation functions of the tethered quadcopter are considered. Additionally, in order to enhance the effectiveness of traditional Active Disturbance Rejection Control, we present an optimized controller combining a phase compensation algorithm with a nonlinear function. The proposed Controller is validated in a high-fidelity simulation environment, considering internal interference, wind field interference and reactive force from produces. Besides, the simulation is specifically developed for picking operation, The results underscore the better observation capabilities of the enhanced controller proposed in this study. Moreover, when deployed in a simulated picking environment, the improved controller exhibits remarkable resistance to the interference and significantly mitigates chattering issues.

中文翻译：

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系留无人机动力学和先进自抗扰控制


由于其在农业收割方面的巨大应用潜力，系留无人机（UAV）引起了相当大的兴趣。然而，该系统的抗干扰控制仍然充满障碍，这主要源于其固有的非线性、不可预测的气流干扰、不可测量的系绳张力以及运行过程中重心的变化。我们提出了考虑重心转移的可操作系留无人机的综合动态模型。由于树枝和树叶的阻碍，系留无人机无法到达树内的果实。因此，考虑系留四轴飞行器的两个变形函数。此外，为了增强传统有源抗扰控制的有效性，我们提出了一种将相位补偿算法与非线性函数相结合的优化控制器。所提出的控制器在高保真仿真环境中进行了验证，考虑了内部干扰、风场干扰和产品的反作用力。此外，该仿真是专门为拣选操作而开发的，结果强调了本研究中提出的增强型控制器具有更好的观察能力。此外，当部署在模拟拣选环境中时，改进的控制器表现出显着的抗干扰能力，并显着减轻了抖动问题。