Abstract: Focuses on the stability requirements for the coordinated transport of dual Unmanned Aerial Vehicles（UAVs）,a control strategy for the payload lifting and angle suppression of UAVs carrying stick shaped loads was proposed.Based on the establishment of the dynamic model of dual UAVs,a coupled error function was designed to build the nonlinear relationship between the payload attitude and the driving force,which is then introduced into the control design process based on the Lyapunov function to ensure accurate tracking and positioning of dual UAVs while effectively suppressing payload swing.The stability of the proposed closed-loop system of the control,as well as the asymptotic convergence of payload oscillation and UAV position error were proved through Lyapunov stability analysis.Finally,physical experiments were conducted on an indoor experimental platform,and result showed that the proposed method performed well in UAV position tracking,load swing suppression and disturbance rejection.

Key words: dual unmanned aerial vehicles payload lifting, payload swing suppression, nonlinear coupled dynamics, cooperative control

摘要： 围绕双无人机协同吊运作业的稳定性需求,提出一种针对棍状负载的协同吊运与减摆控制策略。在建立系统动力学模型的基础上,设计耦合误差函数,建立负载摆角与驱动力的非线性关联,并引入到基于李雅普诺夫函数的控制设计过程中,以保证双无人机在准确位置跟踪的同时有效抑制负载摆动。通过李雅普诺夫稳定性分析证明了所设计系统的稳定性,以及负载摆动和无人机位置误差的渐近收敛性。最后,在室内实验平台上进行了实物实验,结果表明,所提出的方法在无人机位置跟踪、负载摆动抑制以及抗干扰方面均具有较好的性能。

关键词: 双无人机吊运, 负载摆动抑制, 非线性耦合系统, 协同控制