无人机吊挂运输中突发绳索断裂，靠张力直接反馈实现自动恢复。
Passive Fault Tolerance through Tension-to-Thrust Feed-Forward: Hybrid Input-to-State Stability for Decentralized Multi-UAV Slung-Load Transport under Abrupt Cable Severance
- 各无人机用绳索张力直接控制升力，无需通信或协调
- 断裂后系统在1个摆动周期内恢复，误差仅0.32米，下垂小于9.5厘米
- 无需依赖外部信号，适合高风险场景下的无人集群应用
多无人机吊挂运输中突发绳索断裂会迅速改变负载分布和约束集，留给故障诊断与重构的时间极短。现有控制器依赖协同受力分配、状态共享或固定绳索拓扑，缺乏对未预告断裂的可认证去中心化恢复机制。本文提出一种被动架构：将每架无人机测得的绳索张力直接映射为自身升力指令，即 $T_i^{ ext{ff}} = T_i$，同时通过周围比例-微分、抑摆及投影级联结构保障局部跟踪可行性。主要贡献是建立一个条件性混合实用输入-状态稳定性证书，整合松驰位移有界、绷紧绳索缩减、断裂后李雅普诺夫跳跃有界、故障间衰减以及单次故障周期收缩率 $ρ∈(0,1)$，形成明确的恢复包络，在给定执行器、松弛度和停留时间假设下有效。在Drake多体仿真中验证了五架无人机、10公斤载荷、Kelvin-Voigt绳索、Dryden风场及单/双断裂调度下的表现：闭环系统达到0.312–0.328米均方根误差、76.1–95.2毫米峰值下垂，且在一倍载荷摆动周期内完成恢复。禁用该张力前馈使巡航误差增加34–39%，峰值下垂增大3.6–4.0倍，确认局部张力前馈是此去中心化级联系统中主导的被动恢复机制。
原文摘要 · Abstract (English)
Abrupt cable severance in multi-UAV slung-load transport redistributes load and changes the active constraint set, leaving limited time for fault diagnosis and reconfiguration. Existing controllers rely on coordinated force allocation, peer-state exchange, or fixed cable topology, and therefore lack a certified decentralized recovery mechanism for unannounced severance. We present a passive architecture that routes each vehicle's measured cable tension directly into its altitude thrust command, $T_i^{\mathrm{ff}}=T_i$, while a surrounding proportional-derivative, anti-swing, and projection cascade preserves local tracking feasibility. The main contribution is a conditional hybrid practical input-to-state-stability certificate that composes a slack-excursion-bounded taut-cable reduction, bounded post-severance Lyapunov jumps, inter-fault decay, and per-fault-cycle contraction $ρ\in (0,1)$ into an explicit recovery envelope under stated actuator, slack, and dwell assumptions. We validate the controller in Drake multibody simulation with five vehicles, a 10 kg payload, Kelvin-Voigt cables, Dryden wind, and single- and dual-severance schedules: the closed loop attains 0.312-0.328 m RMSE, 76.1-95.2 mm peak sag, and recovery within one payload-pendulum period. Disabling the identity inflates cruise error by 34-39% and peak sag by 3.6x-4.0x, identifying local tension feed-forward as the dominant passive recovery mechanism in the tested decentralized cascade.
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