Limitations of Switching Dynamics in the Modeling of Cooperative Slung Load Transportation System

The limitations of approaches based on switching dynamics when dealing with physical constraints are investigated by analyzing the dynamics of a formation of aerial drones carrying a load via rectilinear and massless cables. A formulation based on the Udwadia-Kalaba equation is used to account for the constraints of the multiagent slung load system and a criterion on the maximum number of agents for effectively managing the switching dynamics is devised. The switching dynamics of formations consisting of two and four quadrotor agents are analyzed and discussed to assess the validity and suitability of the obtained results.