Stability comparison for a suspended load by one and two UAVs

This work compares the performance of two load-carrying systems using unmanned aerial vehicles (UAVs), one considering just one UAV carrying the load and the other considering that the load is carried by two UAVs. In both cases the load is suspended by cables and can oscillate freely in the 3D space, according to its dynamics. The modeling was developed using the equations of Euler-Lagrange and a nonlinear controller based on feedback linearization is adopted to guide the UAVs to accomplish the flight tasks rejecting the disturbance caused by the load.