The invention discloses a multi-unmanned-aerial-vehicle cooperative hoisting method and
system, and the method comprises the steps: firstly, enabling each unmanned aerial vehicle to operate an extended
state observer, regarding internal and external disturbances (such as
airflow, unknown load parameters, internal
coupling force and the like) as a lumped disturbance, and carrying out the real-
time estimation; and then, through a communication network operation
consensus algorithm between the unmanned aerial vehicles, fusing the local disturbance
estimation values of the unmanned aerial vehicles into a global consistent
system-level disturbance
estimation. And finally, each unmanned aerial vehicle actively counteracts the influence of disturbance by using the accurate disturbance
estimation value in a feedforward compensation controller, and accurately tracks the respective target trajectory in combination with
feedback control. According to the method, active observation of disturbance, distributed fusion and feed-forward compensation are combined, dependence on an accurate
system dynamic model is eliminated, and trajectory tracking accuracy, stability and stability of the system in a complex environment are remarkably improved.