多无人机绳索悬挂协同搬运固定时间控制

A new fixed-time cooperative tracking control algorithm is designed to solve the tracking control problem of cooperative transportation of payloads suspended by tethers from multiple UAVs. Firstly, through wrench analysis, the effective wrench space under different states of the system is calculated, and the allowable tension margin of the system under the constraint of the effective wrench space is calculated based on the statics balance. Secondly, under the condition of the rope tension and the maximum tension constraint, the desired tracking trajectory of the formation is planned based on differential flatness and optimal rope tension distribution algorithm. Then, the dynamic model of the system is established based on the Udwadia Kalaba equation. The continuous robust control terms based on super-twist-like sliding mode and integral sliding mode are designed to compensate the disturbance caused by tether tension, and the fixed-time coordinated outer loop position controller of UAV based on bi-limit homogeneity principle is designed. A fixed-time attitude stabilization controller is designed for UAV inner loop attitude stability control. The simulation results show that the rope tension meets the tension and maximum tension constraints, and the designed fixed-time cooperative tracking control algorithm ensures the stable tracking of the desired trajectory within a fixed-time.