Modular Multi-Copter Structure Control for Cooperative Aerial Cargo Transportation

Abstract The control problem of a multi-copter swarm, mechanically coupled through modular lattice structure connecting rods, is considered in this article. system’s structural elasticity deriving the dynamics. devised controller robust against induced flexibilities, while an inherent adaptation scheme allows for asymmetrical configurations and transportation unknown payloads. Certain optimization metrics are introduced solving individual agent thrust allocation achieving maximum system flight time, resulting platform-independent implementation. Experimental studies offered to illustrate efficiency suggested under typical conditions, increased rod elasticities payload transportation.