两架无人机协作搬运可弯折物体，自适应控制无需弹性模型。
AirBender: Adaptive Transportation of Bendable Objects Using Dual UAVs
- 双无人机协同运输，通过自适应控制应对未知变形特性。
- 实验验证在多种场景下轨迹跟踪稳定，无模型依赖。
- 适合空中机器人搬运柔性物体的工程应用。
空中机器人在空中与可弯折物体交互时面临显著控制挑战，尤其因执行能力有限且需持续悬停，常导致性能下降甚至坠毁。本文提出一种自适应控制器，使两架飞行器能协同沿轨迹运输可弯折物体，无需依赖显式的弹性模型。该方法可实时适应物体未知的柔变特性，确保轨迹跟踪任务中的稳定性和性能。通过李雅普诺夫分析证明控制器渐近稳定。硬件实验在多种场景中验证了多旋翼飞行器处理可弯折物体的能力。
原文摘要 · Abstract (English)
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities and constant need to remain airborne. This paper presents an adaptive controller that enables two aerial vehicles to collaboratively follow a trajectory while transporting a bendable object without relying on explicit elasticity models. Our method allows on-the-fly adaptation to the object's unknown deformable properties, ensuring stability and performance in trajectory-tracking tasks. We use Lyapunov analysis to demonstrate that our adaptive controller is asymptotically stable. Our method is evaluated through hardware experiments in various scenarios, demonstrating the capabilities of using multirotor aerial vehicles to handle bendable objects.
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