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绳实现对物体全位姿的操控。据作者所知，这是首次考虑负载-无人机系统完整非线性模型的方法，并确保了所有可行性约束条件：无人机最大/最小推力限制、无人机间防碰撞、缆绳与负载间的防碰撞、以及缆绳张紧度与最大张力控制。通过纳入上述因素，所提控制算法可充分挖掘无人机性能，提升操作速度。仿真实验验证了该算法利用多架无人机实现刚体载荷位姿的快速安全操控能力。我们证明，针对由最多10架无人机组成的编队，该方法计算时间足够小（<100毫秒），这使得其适用于未来大量工业应用场景，如自主建筑施工和重载运输。