Distributed Control for Multiple UAV Transport of Slung Loads
Onkar Chopra, Debasish Ghose · AIAA SCITECH 2022 Forum · 2022
View Video Presentation: https://doi.org/10.2514/6.2022-0271.vid We propose a distributed control strategy for slung load transportation using multiple UAVs, with the goal to keep the load on the desired trajectory while maintaining formation. The load is equipped with an IMU and an optical sensor, and use inputs from these sensors to enable the multi-UAV system to generate appropriate control commands in order to maintain the formation. The proposed strategy takes advantage of the coupling between translational dynamics of UAVs and rotational dynamics of slung load to control the formation along vertical direction. Feedback from the optical sensor ensures formation in the rest of the two directions. The proposed controller compares the load’s current state with reference trajectory to generate control inputs, which then acts equally on all UAVs in the formation. Simulation results are presented to support the efficacy of the proposed control law. Implementation in aROS/Gazebo platform is also demonstrated.