This paper is focused on the dynamics and control of arbitrary number ofquadrotor UAVs transporting a rigid body payload. The rigid body payload isconnected to quadrotors via flexible cables where each flexible cable ismodeled as a system of serially-connected links. It is shown that acoordinate-free form of equations of motion can be derived for arbitrarynumbers of quadrotors and links according to Lagrangian mechanics on amanifold. A geometric nonlinear controller is presented to transport the rigidbody to a fixed desired position while aligning all of the links along thevertical direction. Numerical results are provided to illustrate the desirablefeatures of the proposed control system.
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