This paper investigates the stability control of the tethered multi-rotor unmanned aerial vehicles (T-MRUAVs) system in cargo delivery, where precise payload trajectory control is deemed unnecessary, with a focus on enhancing controller simplicity and robustness. To achieve this objective, it is imperative to employ an optimal formation tracking control, ensuring not only the symmetrical positioning of UAVs concerning the payload but also the achievement of distributed optimal solutions. Therefore, a formation tracking control strategy based on differential graphical games is designed to ensure optimized performance metrics and minimized suspended load swing. The designed control framework includes an outer loop and an inner loop control, which respectively achieve formation tracking and attitude stability. In addition to maintaining equilibrium states, each UAV is required to track the desired trajectory. Consequently, the formation tracking control consists of a gravity compensation term at the equilibrium point and a formation tracking control term based on differential graphical games. Then, a PID control strategy is displayed for the inner loop control, and the altitude control adopts feedback linearization. Finally, numerical simulations have validated the effectiveness of the designed algorithm.

中文翻译：

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基于微分图形博弈的系留多旋翼无人机协同运输

本文研究了系留多旋翼无人机（T-MRUAV）系统在货物运输中的稳定性控制，其中精确的有效载荷轨迹控制被认为是不必要的，重点是提高控制器的简单性和鲁棒性。为了实现这一目标，必须采用最优编队跟踪控制，不仅保证无人机关于有效载荷的对称定位，而且实现分布式最优解。因此，设计了一种基于微分图形博弈的编队跟踪控制策略，以确保优化的性能指标和最小化悬载摆动。设计的控制框架包括外环控制和内环控制，分别实现编队跟踪和姿态稳定。除了保持平衡状态外，每个无人机还需要跟踪所需的轨迹。因此，编队跟踪控制由平衡点重力补偿项和基于微分图解博弈的编队跟踪控制项组成。然后，内环控制采用PID控制策略，高度控制采用反馈线性化。最后，数值模拟验证了所设计算法的有效性。