Load transportation using single and multiple quadrotor aerial vehicles with swing load attenuation

This paper deals with a load transportation problem using single and multiple quadrotor aerial vehicles. A control strategy for cooperative load transportation is developed by using consensus strategies for multi agent systems. To reduce the swing in the load angle, the Input Shaping technique is used. This technique shows that oscillations can be reduced in up to 60%. The stability for the strategy is based on a Lyapunov analysis. Finally, simulation results are provide to show the effectiveness of the proposed control structure and the notable reduction of the load swing angle.