发表机构
Delft University of Technology（代尔夫特理工大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对多无人机缆索悬挂起重系统中力分布不均的问题，提出一种混合规划与控制框架，通过全局规划探索零空间、局部规划优化成本及导纳滤波器调整参考，在四至十架无人机仿真与实验中实现了更均衡的张力分布，同时保持敏捷性和载荷跟踪性能。
AI 中文摘要
多架无人机可以协同运输重型载荷，同时控制其位置和姿态。基于轨迹的方法在满足系统约束的同时提供了高敏捷性，但当张力到力旋量的分配是冗余或病态时，特别是在几何失配和低层跟踪误差下，可能会产生不均匀的力分布。我们提出了一种混合规划与控制框架来解决这个问题。全局规划器通过在规定的内力设置下探索分配零空间来生成载荷轨迹和缆索力参考。这些参考增强了集中式局部规划器的成本，促进了可行的力分布，同时为所有无人机生成轨迹。然后，导纳滤波器将计划力与机载缆索张力估计进行比较，并调整运动学参考以改善退化或近退化配置中的力跟踪。涉及四到十架无人机的仿真和实验表明，在悬停和苛刻的敏捷机动过程中，张力分布更加均衡，而不牺牲敏捷性或载荷跟踪性能。
英文摘要
Multiple UAVs can cooperatively transport heavy payloads while controlling their position and orientation. Trajectory-based methods offer high agility while satisfying system constraints, but can produce uneven force distributions when the tension-to-wrench allocation is redundant or ill-conditioned, particularly under geometric mismatch and low-level tracking errors. We propose a hybrid planning-and-control framework to address this problem. A global planner generates payload trajectories and cable-force references by exploring the allocation null space under a prescribed internal-force setting. These references augment the cost of a centralized local planner, promoting feasible force distributions while generating trajectories for all UAVs. An admittance filter then compares the planned forces with onboard cable-tension estimates and adjusts the kinematic references to improve force tracking in degenerate or near-degenerate configurations. Simulations and experiments involving four to ten UAVs demonstrate more balanced tension distributions during both hovering and demanding agile maneuvers, without compromising agility or payload-tracking performance.
Comments9 pages, 11 figures
