This paper establishes a framework within which interaction control is designed for the aerial slung load system composed of an underactuated aerial vehicle, a cable and a load. Instead of developing a new control law for the system, we propose the interaction control scheme by the controllers for under-actuated aerial systems. By selecting the deferentially flat output as the configuration, the equations of motion of the two systems are described in an identical form. The flight control task of the under-actuated aerial vehicle is thus converted into the control of the aerial slung load system. With the help of an admittance filter, the compliant trajectory is generated for the load subject to external interaction force. Moreover, the convergence of the whole system is proved by using the boundedness of the tracking error of vehicle attitude tracking as well as the estimation error of external force. Based on the developed theoretical results, an example is provided to illustrate the design algorithm of interaction controller for the aerial slung load via an existing flight controller directly. The correctness and applicability of the obtained results are demonstrated via the illustrative numerical example.

本文建立了由欠驱动飞行器、电缆和负载组成的空中悬挂负载系统的交互控制设计框架。我们没有为系统开发新的控制律，而是为欠驱动天线系统提出控制器的交互控制方案。通过选择扁平输出作为配置，两个系统的运动方程以相同的形式描述。欠驱动飞行器的飞行控制任务因此转换为空中悬挂负载系统的控制。在导纳滤波器的帮助下，为受到外部相互作用力的负载生成柔顺轨迹。而且，利用车辆姿态跟踪的跟踪误差和外力估计误差的有界性证明了整个系统的收敛性。在此基础上，结合现有的飞行控制器，通过实例说明了空中悬挂负载交互控制器的设计算法。通过说明性的数值例子证明了所得结果的正确性和适用性。