Optimal Formation Control for Cooperative Slung Load Transportation
Giovanni Di Monaco, Alessandro Zavoli, Guido De Matteis, Giulio Avanzini · 2024
This paper presents a control strategy for the formation of multiple quadrotors carrying a suspended load via rigid and massless cables. The mathematical model of the system is derived using the Udwadia-Kalaba formulation and the control strategy consists of an optimal formation control law combined with a dynamic inverse control strategy to maintain the quadrotors in the desired formation while tracking a prescribed trajectory and avoiding obstacles. Simulation results are presented and discussed in order to assess the performance and suitability of the proposed methodology.