双绳驱动空中机械臂协同搬运控制研究

为解决双绳驱动空中机械臂协同搬运时的接触控制问题，提出了一种基于非奇异快速终端滑模的阻抗控制策略。首先，考虑绳驱动机制的柔性效应，建立计及关节柔性的双机协同系统动力学模型，并推导出任务空间内的阻抗方程。然后，设计协同阻抗控制策略，借助非奇异快速终端滑模面来加快系统状态量的收敛速度，利用幂次函数削弱输出力矩抖振效应。同时，在Lyapunov框架下分析了所设计控制器的稳定性。最后，通过控制器性能比较仿真和协同搬运仿真对所提控制策略的有效性进行了验证。结果表明，所提控制器响应速度快、控制精度高及稳定性好，能够有效抑制系统抖振。

Research on cooperative transportation control of double Cable-driven aerial manipulators

An impedance control strategy based on non singular fast terminal sliding modes is proposed to solve the problem of contact control during cooperative transportation of double cable-driven aerial manipulators. Firstly, considering the flexibility effect of the cable-drive mechanism, the dynamics model of the dual-machine collaboration system taking into account the flexibility of the joints is established, and the impedance equation in the task space is derived. Then, a cooperative impedance control strategy is designed to accelerate the system state volume and convergence speed with the use of non-singular fast terminal sliding mode surfaces, and to weaken the output torque jitter effect using power functions. At the same time, the stability of the controller is analysed in the Lyapunov framework. Finally, the effectiveness of the proposed control strategy is verified by controller comparative performance simulation and cooperative transportation simulation. The results show that the proposed controller has fast response speed, high control accuracy and excellent stability, and can effectively reduce the system chattering.