Control method, system and equipment for anti-interference cooperative lifting of double unmanned aerial vehicles and medium

By introducing a virtual navigator and an extended state observer, combined with a nonlinear disturbance rejection controller, the problems of sling tension imbalance and load instability caused by external interference in dual-UAV collaborative hoisting were solved, achieving high-precision and robust load transport control.

CN122151504APending Publication Date: 2026-06-05HEILONGJIANG HUIDA TECHNOLOGY CO LTD
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Patent Information

Application Number
CN202610208829.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-02-13
Publication Date
2026-06-05

AI Technical Summary

Technical Problem

Existing dual-drone collaborative hoisting technology does not fully consider the impact of external interference on cargo transportation, resulting in uneven distribution of sling tension, large load swings or even instability, and traditional controllers have slow response and difficulty in ensuring trajectory tracking accuracy and system robustness.

Method used

A virtual navigator architecture is introduced, and the desired position information of the UAV is calculated based on the dual-machine cooperative decoupling control rules by expanding the state observer and nonlinear disturbance rejection controller. The disturbances such as wind disturbance and sudden loading are estimated and compensated in real time to form a closed-loop control loop.

Benefits of technology

It effectively solves the problem of sling tension imbalance caused by independent trajectory planning, realizes stable load suspension and high-precision trajectory tracking, and improves the robustness and response speed of the system.

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Abstract

The invention discloses a control method, system and equipment for anti-interference cooperative lifting of double unmanned aerial vehicles, and a medium. The control method comprises the following steps: acquiring actual state information of the double unmanned aerial vehicles and expected state information of a virtual navigator; according to the expected state information, calculating expected position information of the double unmanned aerial vehicles according to a preset double-unmanned aerial vehicle cooperative decoupling control rule; and the expected position information serves as input, control input information of each unmanned aerial vehicle is output on the basis of a pre-constructed expansion state observer and a non-linear anti-interference controller, and therefore a power system controls the double unmanned aerial vehicles to cooperatively lift loads in an anti-interference mode according to the control input information. The virtual pilot is introduced, and the problem of sling tension unbalance caused by independent track planning is solved; on the basis of a dual-machine cooperative decoupling control rule, the problem that the load pose cannot be measured due to a flexible sling is solved, and an expansion state observer and a nonlinear anti-interference controller are adopted to achieve real-time estimation and active compensation of wind disturbance, sudden loading and other composite disturbances.
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