用无人机协同搬运货物，人推即走，控制更稳更快。
Aerial Assistive Payload Transportation Using Quadrotor UAVs with Nonsingular Fast Terminal SMC for Human Physical Interaction
- 通过人力推动控制无人机搬运，实现自然交互
- 采用非奇异快速终端滑模控制，系统快速稳定
- 适合需要轻便协作搬运的场景，如救援、物流
本文提出一种利用欠驱动四旋翼无人机作为辅助设备，在人机协同搬运任务中实现负载运输的新方法。系统由两架欠驱动无人机刚性连接于负载上，通过人类引导与物理交互完成搬运与操控。目标是减轻人体负担，实现人机无缝协作。采用阻抗-非奇异快速终端滑模控制（Admittance-NFTSMC）来控制并渐近稳定系统，人类施加于负载上的力决定无人机运动。通过李雅普诺夫分析验证了控制器稳定性。基于MATLAB、ROS和Gazebo开展了大量仿真研究，结果表明该控制器在辅助负载运输任务中具有可行性与潜在优势。关键词：协同负载运输，阻抗控制，滑模控制，四旋翼控制
原文摘要 · Abstract (English)
This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system consists of two underactuated UAVs rigidly connected to the transported payload. This task involves the collaboration between human and UAVs to transport and manipulate a payload. The goal is to reduce the workload of the human and enable seamless interaction between the human operator and the aerial vehicle. An Admittance-Nonsingular Fast Terminal Sliding Mode Control (NFTSMC) is employed to control and asymptotically stabilize the system while performing the task, where forces are applied to the payload by the human operator dictate the aerial vehicle's motion. The stability of the proposed controller is confirmed using Lyapunov analysis. Extensive simulation studies were conducted using MATLAB, Robot Operating System (ROS), and Gazebo to validate robustness and effectiveness of the proposed controller in assisting with payload transportation tasks. Results demonstrates feasibility and potential benefits utilizing quadrotor UAVs as assistive devices for payload transportation through intuitive human-guided control. Keywords Cooperative payload transportation, Admittance control, Sliding mode control, Quadrotor control
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