Geometric Control of Two Quadrotors Carrying a Rigid Rod with Elastic Cables

Abstract This paper presents the design of a geometric trajectory tracking controller for an underactuated multi-body system describing cooperative task two quadrotor UAVs (unmanned aerial vehicles) carrying and transporting rigid bar, which is attached to quadrotors via inflexible elastic cables. The elasticity cables together with techniques singular perturbation allows reduction in model that similar inelastic In this reduced model, we such rod exponentially tracks given desired its position attitude, under some assumptions on initial error. We then show exponential corresponds original model. also previously defined control scheme provides uniform ultimate boundedness presence unstructured bounded disturbances.