Modular Multi-Copter Structure Control for Cooperative Aerial Cargo Transportation

TL;DR

This paper presents a robust control strategy for a modular multi-copter swarm with elastic connections, enabling efficient payload transportation and adaptability to various configurations through experimental validation.

Contribution

It introduces a novel control approach that accounts for structural elasticity and payload variability, enhancing multi-copter swarm coordination.

Findings

Robust control maintains stability despite structural flexibilities.

Optimization improves thrust allocation for maximum flight time.

Experimental results validate effectiveness under different conditions.

Abstract

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