论文标题
关于具有电缆悬浮有效载荷系统的多个四肢台器的人类控制
On the Human Control of a Multiple Quadcopters with a Cable-suspended Payload System
论文作者
论文摘要
四轮驱动器是一个散发不足的系统，只有四个控制输入，即六个自由度，但是对四轮驱动器的人类控制非常简单，足以通过某种实践来学习。在这项工作中，我们考虑了对多个四轮驱动器系统的人类控制问题，以运输有线悬浮的有效载荷。由于固有的物理约束，该系统的耦合动力学用于开发领导者的追随者体系结构，在该体系结构中，领导者四轮驱动器直接由人类操作员直接控制，并且追随者由拟议的有效姿态态度控制器和有线电视态度控制器控制。进行了实验，在该实验中，进行了两个四肢驱动器系统来运输电缆悬浮有效载荷，以研究拟议的控制器的性能。结果表明，在这些系统中成功实施了人类控制。这项工作提出了对四轮驱动系统进行手动控制的可能性，从而激发了未知环境中的航空运输。
A quadcopter is an under-actuated system with only four control inputs for six degrees of freedom, and yet the human control of a quadcopter is simple enough to be learned with some practice. In this work, we consider the problem of human control of a multiple quadcopters system to transport a cable-suspended payload. The coupled dynamics of the system, due to the inherent physical constraints, is used to develop a leader-follower architecture where the leader quadcopter is controlled directly by a human operator and the followers are controlled with the proposed Payload Attitude Controller and Cable Attitude Controller. Experiments, where a human operator flew a two quadcopters system to transport a cable-suspended payload, were conducted to study the performance of proposed controller. The results demonstrated successful implementation of human control in these systems. This work presents the possibility of enabling manual control for on-the-go maneuvering of the quadcopter-payload system which motivates aerial transportation in the unknown environments.
