This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from dissipative systems theory, the framework facilitates efficient multi-UAV collaboration for navigating obstacle-rich areas. The proposed framework offers several key advantages. (1) It achieves tension distribution and coordinated transportation within the UAV-cable-load system with low computational overhead, dynamically adapting UAV configurations based on obstacle layouts to facilitate efficient navigation. (2) By integrating dissipative systems theory, the framework ensures high stability and robustness, essential for complex multi-UAV operations. The effectiveness of the proposed approach is validated through extensive simulations, demonstrating its scalability for large-scale multi-UAV systems. Furthermore, the method is experimentally validated in outdoor scenarios, showcasing its practical feasibility and robustness under real-world conditions.

翻译：本文提出了一种新颖的控制框架，用于在受限环境中操作的多架无人机协同运输缆绳悬挂载荷。该框架利用虚拟管道理论和耗散系统理论原理，促进多无人机在障碍物密集区域的高效协作。所提出的框架具有若干关键优势。(1) 它能够在无人机-缆绳-载荷系统中以较低的计算开销实现张力分配与协同运输，并根据障碍物布局动态调整无人机配置以促进高效导航。(2) 通过集成耗散系统理论，该框架确保了高稳定性和鲁棒性，这对复杂的多无人机操作至关重要。通过大量仿真验证了所提方法的有效性，证明了其对于大规模多无人机系统的可扩展性。此外，该方法在室外场景中进行了实验验证，展示了其在真实世界条件下的实际可行性和鲁棒性。