Increasing the load capacity of drones can be effectively achieved by utilizing two drones. This paper introduces a novel cooperative control strategy for the transport of a slung bar-shaped load using two drones. Our approach integrates differential flatness-based motion planning with filtering techniques to generate reference trajectories. This method does not require prior knowledge of the load mass or cable deflection angles, and ensuring compatibility with a wide range of flight controllers. The proposed control scheme employs a super-twisting controller as an internal stabilizer to ensure robustness against model inaccuracies and external disturbances, providing precise stabilization around the preplanned trajectories. This methodology is particularly well-suited for practical applications requiring the cooperative transport of complex loads, such as wind turbine blades, where precision, robustness, and simplicity are critical.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    On Cooperative Control of Two-Drones with a Slung Load


    Contributors:


    Publication date :

    2025-05-14


    Size :

    625293 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Optimal Formation Control for Cooperative Slung Load Transportation

    Di Monaco, Giovanni / Zavoli, Alessandro / De Matteis, Guido et al. | AIAA | 2024


    Cooperative Transport of a Slung Load Using Load-Leading Control

    Geng, Junyi / Langelaan, Jack W. | AIAA | 2020


    Cooperative Multilift Slung Load Transportation Using Haptic Admittance Control Guidance

    Romano, Matthew / Ye, Anne / Pye, John et al. | AIAA | 2022


    Formation Flight Control of Networked-Delayed Quadrotors for Cooperative Slung Load Transportation

    Mechali, Omar / Xu, Limei / Xie, Xiaomei | British Library Conference Proceedings | 2022


    Helicopter obstacle avoidance with slung load

    DADKHAH TEHRANI NAVID / CARLSON SEAN S / POLYCARPE CAUVIN | European Patent Office | 2025

    Free access