Decentralized formation tracking and disturbance suppression for collaborative UAVs transportation

This paper considers a decentralized formation tracking with disturbance suppression control problem to achieve unmanned aerial vehicle (UAV) collaborative transportation. The main purpose of the paper is to develop a scheme of the UAV collaborative transportation independent of the globally positioning system (GPS). We focus on a scenario that every UAV is equipped with a tether sensor linked to a specified rigid load. Suppose that, the wire angles measured by IMU together with the load attitude and position, relative to the global frame, are all accessible to all the collaborative lifting UAVs. Then we present a control algorithm using an internal model principle approach to achieving the decentralized formation tracking With disturbance suppression. We demonstrate the effectiveness of the proposed positioning scheme and algorithm via simulation and initial experiment.