Multi-objective control for cooperative payload transport with rotorcraft UAVs

A novel kinematic formation controller based on null-space theory is proposed to transport a cable-suspended payload with two rotorcraft UAVs considering collision avoidance, wind perturbations, and properly distribution of the load weight. An accurate 6-DoF nonlinear dynamic model of a helicopter and models for flexible cables and payload are included to test the proposal in a realistic scenario. System stability is demonstrated using Lyapunov theory and several simulation results show the good performance of the approach.