Cooperative Transportation of Cable-suspended Slender Payload Using Two Quadrotors

This paper proposes a control method with input shapers to complete the cooperative transportation of a slender payload using two quadrotors under a leader-follower framework. Based on the assumption of the small swing of payload, a Lagrangian system with five degrees of freedom is built to describe the transportation system in OYZ plane. The follower is driven by a PID controller to track the pose of the leader. Three input shapers are introduced to reduce the residual oscillations of the follower and the payload. Finally, experimental results are presented to verify the proposed controller for the cooperative transportation mission.