We address a cooperative transport control problem involving three or more unmanned aerial vehicles (UAVs). We realize the transportation of an object that cannot be carried with a small number of UAVs. To improve scalability and real-time performance, we propose a controller that does not require optimization calculations. The attitude and position of the transported object are controlled by contact forces with the UAVs. The control system comprises two steps in which (1) a force is allocated to each UAV and (2) UAVs realize the force allocation using a decentralized disturbance observer-based controller. A friction cone constraint related to static friction is considered using the redundant degree of freedom in the force allocation. The effectiveness of the controller is verified in numerical simulations.

我们解决了涉及三辆或更多无人飞行器（UAV）的合作运输控制问题。我们实现了少量无人机无法运载的物体的运输。为了提高可扩展性和实时性能，我们提出了一种不需要优化计算的控制器。被运输物体的姿态和位置由与无人机的接触力控制。控制系统包括两个步骤，其中（1）将力分配给每个UAV，并且（2）UAV使用基于分散干扰观测器的控制器实现力分配。在力分配中使用冗余自由度来考虑与静摩擦有关的摩擦锥约束。数值模拟验证了控制器的有效性。