A novel formation control to transport a cable-suspended payload with two quadrotors is presented. The control structure is based on a layered scheme combining a kinematic null-space based controller and a neural sliding mode controller. The null-space controller is designed to generate velocity references to the quadrotors in the formation, whereas the neural sliding mode controller receives such reference velocities and performs a dynamic compensation for possible parametric uncertainties as well as for the dynamic perturbations caused by the load attached to the quadrotors. The stability of the closed-loop control system thus implemented is also proven with basis on the theory of Lyapunov. Very detailed dynamic models for the quadrotors, the flexible cables, and the payload are included in a highly realistic scenario. To close the work, numerical simulations are presented, whose results demonstrate a good performance of the proposed controller.

提出了一种新颖的编队控制系统，该控制系统用于通过两个四旋翼飞机传输悬吊的有效载荷。该控制结构基于分层方案，该方案结合了基于运动零空间的控制器和神经滑模控制器。零空间控制器设计为生成对地层中四旋翼的速度参考，而神经滑模控制器接收这样的参考速度，并对可能的参数不确定性以及由附加到负载的动态扰动执行动态补偿。四旋翼。这样实现的闭环控制系统的稳定性也基于李雅普诺夫理论得到了证明。四分之一转子，柔性电缆和有效载荷的非常详细的动态模型包含在高度现实的场景中。要结束工作，