Cooperative control of a gripped load by a team of quadrotors

In this paper, an output tracking controller is proposed for cooperative transport of a gripped load by a team of quadrotors. The proposed control law requires measurement of only four state variables; position and yaw angle of the system. Moreover, the controller provides rejection of step and ramp external force disturbances. Also, the control basis vectors derived via optimization facilitate real time determination of quadrotors' control inputs. Numerical simulations show effectiveness of the proposed control scheme and its superiority over formerly designed controllers for such systems.