In this paper, we develop a cooperative control algorithm for a group of multirotor unmanned aerial vehicles (UAVs) transporting a suspended payload of unknown mass. In addition, the vehicles are subjected to unknown environmental disturbances in the form of wind. The control structure is analyzed using Lyapunov theory, and both numerical simulations and results from experimental field trials on an outdoor multirotor platform further validate the proposed control algorithm.

中文翻译：

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在环境扰动下多转子运输未知悬浮负荷的协同控制

在本文中，我们为一组多旋翼无人飞行器（UAV）运输未知质量的悬浮有效载荷开发了一种协作控制算法。另外，车辆遭受风形式的未知环境干扰。利用李雅普诺夫理论对控制结构进行了分析，在室外多转子平台上的数值模拟和实验结果均进一步验证了所提出的控制算法。