自动化学报2026，Vol.52Issue(2)：322-334,13.DOI:10.16383/j.aas.c250439
螺旋桨转速受限多四旋翼无人机的编队运输分层控制方案
A Hierarchical Control Scheme for Formation Transportation of Multiple Quadrotors With Propeller Speed Constraints
摘要
Abstract
The cooperative formation transportation technology of multiple quadrotors has attracted widespread at-tention in recent years due to its high fault tolerance and remarkable flexibility.This paper proposes a hierarchical control scheme for multiple quadrotors subject to propeller speed constraints and external disturbances to achieve cooperative formation transportation.The design of the proposed scheme primarily consists of developing a distrib-uted coordinator and some tracking controllers.In the distributed coordinator,position coordinators generate the desired positions for all quadrotors with payload using information such as the position and velocity of a virtual leader.This is followed by differential flatness-based trajectory planners,which further derive the desired offset-free trajectories.The tracking controllers combine the nonlinear model predictive control,angular velocity control,and a propeller speed allocation algorithm to generate appropriate propeller speed commands for all quadrotors with pay-load,ensuring accurate trajectory tracking.Under the proposed scheme,multiple quadrotors with payload maintain the desired formation while tracking the virtual leader,thereby achieving cooperative formation transportation.Not-ably,when the position coordinators are omitted,the scheme simplifies to a single-quadrotor trajectory tracking controller.Numerical simulation results,including both single-quadrotor trajectory tracking and multiple quadro-tors cooperative transportation scenarios,demonstrate the effectiveness of the proposed scheme.Specifically,it achieves remarkable tracking performance in single-quadrotor operations,while enabling cooperative formation transportation in multiple quadrotors systems.关键词
多四旋翼无人机/协同编队运输/螺旋桨转速约束/分层控制/抗干扰控制/非线性模型预测控制Key words
multiple quadrotors/cooperative formation transportation/propeller speed constraints/hierarchical con-trol/anti-disturbance control/nonlinear model predictive control引用本文复制引用
武权伟,王翔宇,刘金浩..螺旋桨转速受限多四旋翼无人机的编队运输分层控制方案[J].自动化学报,2026,52(2):322-334,13.基金项目
国家自然科学基金(62533012,62373099,62025302),东南大学未来技术学院"太湖创新基金项目"资助Supported by National Natural Science Foundation of China(62533012,62373099,62025302)and Taihu Innovation Fund Project for the School of Future Technology of Southeast Uni-versity （62533012,62373099,62025302）
