用椭球模型控制四旋翼牵引缆绳打结，实现高速精准抓持。
From Ellipsoids to Midair Control of Dynamic Hitches
- 基于椭球几何建模缆绳打结形态，揭示系统可控结构。
- 四旋翼协同牵引下实现高速稳定跟踪动态目标位置。
- 结合安全约束的优化控制器，适合高精度空中操作场景。
利用飞行器操控和交织缆绳可显著提升空中运输任务效率。这种交织形成由两根或多根缆绳相互缠绕的结扣（hitch），可包裹载荷或进一步发展为死结。对这类结扣进行动力学建模与控制，是掌握缆绳悬吊空中操作中交互关系的关键。本文提出一种基于椭球的运动学模型，将双缆形成的结扣几何特性与四架飞行器驱动的结扣动力学相连接，揭示了系统的控制仿射形式。由于保持缆绳张力的约束也是控制仿射的，我们设计了一种基于二次规划的控制器（CLF-HOCBF-QP），在确保安全约束（如缆绳绷紧）的同时，精确跟踪期望的结扣位置与系统形状。我们将期望的几何参考构型转化为机器人目标位姿，并在李雅普诺夫函数中引入复合误差，以保证输入相对阶数为一。数值仿真验证了该方法，表明其在动态参考下具备稳定且高速的跟踪能力。
原文摘要 · Abstract (English)
The ability to manipulate and interlace cables using aerial vehicles can greatly improve aerial transportation tasks. Such interlacing cables create hitches by winding two or more cables around each other, which can enclose payloads or can further develop into knots. Dynamic modeling and control of such hitches are key to mastering inter-cable interactions in the context of cable-suspended aerial manipulation. This paper introduces an ellipsoid-based kinematic model to connect the geometric nature of a hitch created by two cables and the dynamics of the hitch driven by four aerial vehicles, which reveals the control-affine form of the system. As the constraint for maintaining tension of a cable is also control-affine, we design a quadratic programming-based controller that combines Control Lyapunov and High-Order Control Barrier Functions (CLF-HOCBF-QP) to precisely track a desired hitch position and system shape while enforcing safety constraints like cable tautness. We convert desired geometric reference configurations into target robot positions and introduce a composite error into the Lyapunov function to ensure a relative degree of one to the input. Numerical simulations validate our approach, demonstrating stable, high-speed tracking of dynamic references.
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