通过调整无人机倾角，动态塑造承重平台的受力范围，实现多方向灵活控制。
Feasible Force Set Shaping for a Payload-Carrying Platform Consisting of Tiltable Multiple UAVs Connected Via Passive Hinge Joints
- 用旋翼差速控制铰链倾角，调节整体受力空间形状。
- 可生成冗余力矩，支持在多个方向稳定施力。
- 适合需要高机动性与负载适应性的多机协同系统。
本文提出一种针对由多架无人飞行器（UAV）通过被动铰接关节连接而成的载荷平台的可行力集形状设计方法，并设计了利用该力集优势的控制律。无人机通过可被动旋转的铰链连接到载荷上，铰链角度由旋翼产生的差动推力控制，而所有旋翼总推力则用于控制载荷运动。总推力的可行集合形状取决于无人机的倾斜角度，因此可通过调节倾斜角度来塑造可行力集。本文旨在确保该可行力集包含所需形状，使平台能够冗余地产生各方向的力。随后提出了利用这种冗余性的控制律。
原文摘要 · Abstract (English)
This paper presents a method for shaping the feasible force set of a payload-carrying platform composed of multiple Unmanned Aerial Vehicles (UAVs) and proposes a control law that leverages the advantages of this shaped force set. The UAVs are connected to the payload through passively rotatable hinge joints. The joint angles are controlled by the differential thrust produced by the rotors, while the total force generated by all the rotors is responsible for controlling the payload. The shape of the set of the total force depends on the tilt angles of the UAVs, which allows us to shape the feasible force set by adjusting these tilt angles. This paper aims to ensure that the feasible force set encompasses the required shape, enabling the platform to generate force redundantly -meaning in various directions. We then propose a control law that takes advantage of this redundancy.
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