Passivity-based Formation Control for UAVs with a Suspended Load
Chris Meissen, Kristian Klausen, Murat Arcak, Thor Inge Fossen, Andrew Packard · IFAC-PapersOnLine · 2017
This paper presents a passivity based formation control strategy for multiple unmanned aerial vehicles (UAVs) cooperatively carrying a suspended load. The control strategy we propose consists of an internal feedback control law for each UAV and a formation control law that regulates the relative position between each UAV. We show that under this control strategy the interconnected system has a continuum of equilibria and prove stability for all equilibrium points where the cables supporting the suspended load are in tension.