Control of tricopters cooperating in carrying loads suspended on ropes

该项目的目的是开发基于模型的方法，用于控制无人驾驶飞行器（特别是三旋翼飞行器），以协同承载连接到绳索的负载。车辆和负载之间的机械耦合导致具有挑战性的控制问题，这些问题与机械解耦的合作车辆所遇到的问题截然不同，否则将被深入研究。虽然该项目必须解决一些技术问题，但其主要目的是研究控制设计方法。该设备的数学模型是一个混合系统：非线性常微分方程描述刚体运动和转子的空气动力学，而偏微分方程必须考虑绳索-少数现有出版物将绳索建模为刚性链接。由于负载运输是一个典型的轨迹跟踪任务，基于非线性有限维和无限维系统的控制方法的平坦度是特别适合的，因此将扩展到解决这个具有挑战性的问题。

The aim of this project is to develop model based methods for the control of unmanned aerial vehicles (specifically tricopters) cooperating in carrying a load attached to ropes. The mechanical coupling between the vehicles and the load leads to challenging control problems which drastically differ from those met with mechanically uncoupled cooperating vehicles, as intensively investigated otherwise. Although a number of technological problems must be solved in the project, its main objective is the investigation of control design methods. The mathematical model of the plant is a hybrid system: Nonlinear ordinary differential equations describe the rigid body motion and the aerodynamics of the rotors, while partial differential equations must be considered for the ropes - the few existing publications on the subject model the ropes as rigid links. Since the load transport is a typical trajectory tracking task, flatness based control methods for nonlinear finite and infinite dimensional systems are particularly well suited and will thus be extended for solving this challenging problem.