Cooperative Control for Multiple UAVs‐Suspended Transport Systems Under Cable Tension Limitations: A Flexible Performance Approach

Abstract

ABSTRACT Unmanned aerial vehicles (UAVs) have achieved remarkable advancements in the realm of intelligent transportation, while the collaboration of multiple UAVs is emerging as a pivotal area of research. In this work, the flexible performance‐based cooperative control approach is proposed for the multiple UAVs‐suspended transport systems (STSs) with tracking performance constraints and cable tension limitations. Through establishing the constraint‐limitation coordination mechanism (CLCM), this approach is capable of ensuring the tension status and preventing the tensile failure of the cables, while accomplishing the prescribed performance of both the payload trajectory tracking and the UAV formation following. All the stability of the closed‐loop system, the asymptotic convergence of the CLCM, and the accomplishment of the constraints are proved based on the positive invariant set, the finite‐time convergence, and the positive system theories. Finally, the numerical simulation with comparisons is provided to demonstrate the functionality and the feasibility of the proposed control approach.