Trajectory control of a suspended load with non-stopping flying carriers
It addresses the problem of maintaining continuous motion of aerial carriers during payload transport, which is important for efficiency in drone-based logistics.
This paper introduces the first closed-loop control framework for cooperative payload transport using non-stopping flying carriers, achieving successful load trajectory tracking while preventing carrier stops.
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by computing the wrench required for tracking its desired pose trajectory. Building upon grasp-matrix formulation and internal force redundancy, an optimization layer dynamically shapes internal-force parameters to guarantee persistent carrier motion, while not altering the desired load wrench. The desired non-stopping carrier's trajectories are computed using the system's kinematics and desired cable forces. Numerical simulations demonstrate that the method successfully prevents the carriers from stopping, while achieving a successful tracking of the desired load trajectory.