多旋翼无人机协同操控可变形电缆，基于平坦性理论实现精准控制。
Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs
- 将电缆离散为质点-弹簧链，用球形关节连接建模。
- 通过平坦输出设计轨迹，仿真验证了电缆可控性。
- 实验验证模型有效性，闭环反馈控制提升稳定性。
本文研究由多个四旋翼无人机协同操控可变形、可拉伸电缆的系统。电缆采用离散化表示，分解为通过集中质量球形关节连接的线性弹簧链。针对该系统，推导出一组平坦输出，并基于此设计轨迹。数值仿真结果表明，利用平坦性轨迹可有效实现电缆操纵。最后，以双机器人系统为例，进行了实验验证：所提出的离散化电缆模型在实际中有效；同时，基于识别出的模型并采用电缆输出反馈的闭环控制器也成功完成实验测试。
原文摘要 · Abstract (English)
This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected through lumped-mass passive spherical joints. Sets of flat outputs are found for the systems. Numerical simulations support the findings by showing cable manipulation relying on flatness-based trajectories. Eventually, we present an experimental validation of the effectiveness of the proposed discretized cable model for a two-robot example. Moreover, a closed-loop controller based on the identified model and using cable-output feedback is experimentally tested.
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