Coordinated Control of Load Transportation System for Multiple Quadrotor UAVs

This paper focuses on the modeling and a generalized control framework for load transportation system with multiple quadrotor unmanned aerial vehicles(UAVs). At first, the dynamics models of quadrotor UAVs are established under the suspension point offset and uncertain disturbance, considering the carried load’s effects on each quadrotor UAV. And in order to transport the load smoothly and safely, the desired flight path of the leading UAV and the ideal formation among multiple UAVs are designed appropriately. Next, a coordinated control strategy based on the incremental double-closed PID method is developed to ensure the position and attitude tracking performance of each aircraft. The simulation results are exhibited to prove the effectiveness of the proposed control approach for the UAVs-Load systems.