发表机构
Università degli Studi di Genova（热那亚大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种用于双无人机缆绳载荷运输的紧凑力传感器及张力感知级联控制方法，通过测量锚点力实现外环补偿，仿真和室内实验验证了其提升稳定性、协调性和抗扰能力。
AI 中文摘要
使用多架无人驾驶飞行器（UAV）进行协作载荷运输在稳定性、协调性和鲁棒性方面提出了挑战，尤其是在外部扰动和未建模动态条件下。本文提出了一种双无人机载荷运输框架，该框架由一个紧凑的定制力传感器支持，用于测量无人机缆绳锚点处的相互作用力。文中介绍了传感器的设计和数学模型，并通过静态和动态测试对其性能进行了表征，评估了线性度、迟滞、重复性和交叉负载。控制架构采用级联结构：快速内环负责飞行器稳定，而外环设计用于补偿测量到的力。该方法通过仿真和室内实验在位置不确定性条件下得到验证。载荷投放和受限空间测试评估了所提出的传感与控制架构与基于文献的分布式参考方法的对比，显示出改进的稳定性、协调性和扰动抑制能力。实验视频可在以下网址获取：此 https URL。
英文摘要
Cooperative payload transportation using multiple Unmanned Aerial Vehicles (UAVs) poses challenges in stability, coordination, and robustness, especially under external disturbances and unmodeled dynamics. This work proposes a dual-UAV payload transportation framework supported by a compact, custom-designed force sensor measuring the interaction force at the UAV cable anchor point. The sensor design and mathematical model are presented, and its performance is characterized through static and dynamic tests evaluating linearity, hysteresis, repeatability, and crossload. The control architecture follows a cascade structure: fast inner loops handle vehicle stabilization, while outer loops are designed to compensate for the measured forces. The approach is validated through simulations and indoor experiments under position uncertainty. Payload-drop and constrained-space tests assess the proposed sensing and control architecture against literature-based distributed references, showing improved stabilization, coordination, and disturbance rejection. A video of the experiments is available at: https://youtu.be/rIw9-fvV8Qw.
CommentsPreprint version for IEEE Robotics and Automation Letters
