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Modeling and control of quadrotor formations carrying a slung load

Ariyibi, Segu
In this thesis, an algorithm for the autonomous formation flight of quadrotors carrying a slung load is developed. Full nonlinear models for a single quadrotor carrying a slung load as well as two and three quadrotors carrying a slung load problems are addressed. For the two and three quadrotor slung load systems, a leader-follower approach is employed to make the quadrotors fly in a fixed geometrical formation. The overall control algorithm employs a loop structure with a Lyapunov based formation guidance controller on the outermost loop. In the inner loop, two different approaches are employed. One approach uses linear quadratic tracking controllers to track the velocity commands to the quadrotors and the other approach utilizes a two-loop architecture where a linear quadratic tracking controller outputs a desired thrust vector direction which is then sent a Lyapunov function based quaternion parameterized nonlinear attitude controller. Simulations of our proposed algorithms is then carried out using the MATLAB/SIMULINK platform to test the efficacy of the control approaches employed.