This paper discusses the development of a generalized framework for collaborative control and transportation of a suspended load using multiple quadrotors. For this, first, a flight dynamics model of $n$ quadrotors with suspended load system is derived using Newton’s approach. Next, a cooperative control law is developed to control the motion of the quadrotor(s) and the suspended load. The vehicle formation ensures that the load distribution among vehicles remains equal throughout the transportation task. The proposed control approach uses the combination of a proportional–integral derivative (PID) and a proportional derivative (PD) controller for position control and transportation. The PID controller controls the motion of quadrotor, whereas the PD controller controls the swing, maintains the formation of quadrotors, and simultaneously damps the oscillation of the load. The combination facilitates the waypoint transition and trajectory tracking of the load. A minimum snap trajectory generation approach for the suspended load is also presented. The performance is demonstrated in a simulation as well as experimentally on a single and multiple quadrotors in three-dimensional environment using the motion capture system. The experimental result for a single-lift system is also presented for the outdoor environment.

本文讨论了一种通用框架的开发，该框架用于使用多个四旋翼飞机进行悬浮载荷的协同控制和运输。为此，首先要建立一个飞行动力学模型$ñ$具有牛顿法的具有悬浮负载系统的四旋翼飞机。接下来，制定了一种协调控制律，以控制四旋翼和悬浮负载的运动。车辆编队可确保在整个运输任务中车辆之间的负载分配保持相等。所提出的控制方法使用比例积分微分（PID）和比例微分（PD）控制器的组合进行位置控制和运输。PID控制器控制四旋翼的运动，而PD控制器控制摆动，保持四旋翼的形成，并同时抑制负载的振荡。这种结合有助于实现航点的过渡和负载的轨迹跟踪。还提出了一种用于悬吊载荷的最小捕捉轨迹生成方法。3个使用动作捕捉系统维环境。还提出了针对室外环境的单举系统的实验结果。