Method for controlling double UAVs (unmanned aerial vehicles) to cooperatively hoist rod-shaped rigid load

The invention discloses a method for controlling double UAVs to cooperatively hoist a rod-shaped rigid load, and provides the modeling and control method aimed at a double UAV cooperative hoisting system in a plane. A complete system dynamic model is established by using a Lagrange modeling method, and the relative kinematic relationship between the two rotor UAVs and a load is analyzed. On the basis of the established model, a Lyapunov method is used for designing a controller, an outer loop stability analysis is carried out by combining a Lassalle invariance principle, and then a conclusionthat an expected balance point is asymptotically stable is obtained. According to the control scheme, the UAVs can be prevented from colliding with each other, a hoisting task is stably completed, fixed-point hovering is achieved, and swinging of the load is inhibited. According to an experiment result, the control objective can be completed, the two UAV are ensured to fly with respective expectedranges, and load swinging can be effectively inhibited.