In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit the performance of UAVs and facilitate the speed of operation. Simulations are conducted to validate the algorithm to achieve fast and safe manipulation of the pose of a rigid-body payload using multiple UAVs. We demonstrate that the computational time of the proposed method is sufficiently small (<100 ms) for UAV teams composed by up to 10 units, which makes it suitable for a huge variety of future industrial applications, such as autonomous building construction and heavy-load transportation.

翻译：本文提出了一种基于非线性模型预测控制的集中式控制方法，使多架无人机通过缆索实现对物体全位姿的操控。据作者所知，这是首个考虑负载-无人机系统完整非线性模型的方法，同时确保了涉及无人机最大/最小推力、无人机间避碰、缆索与负载碰撞、缆索紧绷状态及最大张力等所有可行性约束。通过综合上述因素，所提控制算法能够充分发挥无人机性能，提升操作速度。通过仿真验证了该算法实现多无人机刚体负载位姿快速安全操控的能力。结果表明，对于由最多10架无人机组成的编队，所提方法的计算时间足够小（<100毫秒），使其适用于自主建筑施工、重载运输等大量未来工业应用场景。