Adaptive Control of Coupled-Multicopter Systems

The control problem of a multi-copter swarm, physically connected within a modular lattice structure, is considered in this article. The end-to-end connected mechanical structure having as nodes, copters, is able to achieve proper flight as an entire aerial vehicle. A graph-based procedure is presented for analysing any type of structure generated by the proposed modular usage of polygons and rods. The devised controller utilizes the total thrust provided by each copter to lift the vehicle and regulate its roll and pitch angles while attempting to maximize total flight time with the use of a battery-life optimization scheme. Experimental studies are offered to illustrate the efficacy of the suggested design and controller.