多无人机协同吊运方法研究

Cooperative transportation with multiple unmanned aerial vehicles (UAV) presents very important prospect in military and economic development. A UAV transportation system is a typical double-underactuated system, which suffers from various uncertainties during the flight process, such as flow disturbances. The study for cooperative transportation with multiple UAVs possesses great significance, both for theoretical research and practical applications. In this project, by taking full advantage of previous research foundation on underactuated systems control, UAV transportation, and so on, we will implement deep study for the modeling and control of cooperative transportation with multiple UAVs. Specifically, considering the features of the cooperative transportation system, we will employ Lagrange method to set up a composite model, which mainly focuses on the effects of flow disturbances and payload swing to the flight characteristics. Based on the obtained model, we will then study the problem of coordinated dynamic load distribution and implement motion planning for the overall system. Further, considering various uncertainties within the system, such as wind disturbances, we will then utilize advanced control techniques, such as hierarchical control, to construct suitable control algorithms for the studied cooperative transportation system with multiple UAVs. Subsequently, Lyapunov techniques will be adopted to analyze the stability of the closed-loop control system. Additionally, we will build up a simulation platform and an experimental testbed for the cooperative transportation system, which will be utilized to test the performance of the designed control strategies.

多无人机协同吊运在军事和经济建设中具有重要的应用前景，而无人机吊运属于典型的复合型欠驱动系统，且在吊运过程中受到气流扰动等多种不确定性因素影响，因此，对多无人机协同吊运系统进行研究兼具理论价值和实际应用两方面的意义。本项目拟充分利用在欠驱动系统控制，无人机吊运等方面的研究基础，针对协同吊运系统的建模与控制问题展开深入研究。具体而言，将首先基于拉格朗日等方法建立多无人机协同吊运系统的数学模型，在模型中将重点考虑气流扰动和负载摆动对无人机飞行特性的影响；在此基础上，将深入研究协同吊运时的动态载荷实时分配方法，并完成整个系统的运动规划；进一步，考虑到风力干扰等各种不确定性因素的影响，将采用分层控制等方法来设计协同吊运系统的控制策略，基于李雅普诺夫等方法完成整个控制系统的稳定性分析。此外，还将建立多无人机协同吊运仿真平台和实验系统，并对所设计的各类控制方法进行综合性测试。

多旋翼无人机因其灵活度高、机动性强，适用于执行物资运送的任务。由于单个无人机的载荷能力有限，往往需要多个无人机协同运送，以提高系统的运载能力，从而实现大型负载的吊运。然而相比单个飞行器构成的吊运系统，更多无人机的引入使系统的自由度更高，状态耦合更复杂，非线性更强，这些都为多无人机协同吊运系统的分析和算法设计带来了挑战。本项目围绕系统分析与建模、负载消摆、协同控制、有界跟踪、路径规划、实验平台设计等方面开展了研究。为了提升多无人机吊运系统的安全性，提出了一种带有状态约束的协同消摆控制方法，将无人机相对误差限定在设定范围内，同时抑制了负载在运送过程中的摆动。针对多无人机携带杆状负载的协同吊运系统，提出了一种基于能量分析的控制方法，在确保控制量在约束范围内的同时，避免了期望姿态的奇异性问题。针对多无人机轨迹跟踪时的控制问题，提出了一种四旋翼无人飞行器的有界跟踪控制方法，该方法能够保证多台无人机在进行轨迹跟踪的同时将跟踪误差限制在指定范围内。为了进一步研究负载的摆动抑制问题，提出了一种基于能量耦合的分层控制方法，引入负载广义信号以增强状态耦合、并提升对负载摆动的抑制。针对复杂场景下多无人机的路径规划问题，提出了一种基于分块优化思想的多无人机覆盖路径规划方法，兼顾了环境的差异性和覆盖的完整性。针对上述提出的规划、控制算法，搭建了可用于进行室内、外算法验证的软硬件实验平台，保证相关算法在实际应用方面的可行性和有效性。