Cooperative Transportation using Multiple Single-Rotor Robots and Decentralized Control for Unknown Payloads

Abstract

Cooperative transportation by multiple aerial robots has the potential to support various payloads and to reduce the chance of them being dropped. Furthermore, autonomously controlled robots make the system scalable with respect to the payload. In this study, a cooperative transportation system was developed using rigidly attached aerial robots, and a decentralized controller was proposed to guarantee asymptotic stability of the tracking error for unknown strictly positive real systems. A feedback controller was used to transform unstable systems into strictly positive real ones using the shared attachment positions. First, the cooperative transportation of unknown payloads with different shapes larger than the carrier robots was investigated through numerical simulations. Second, cooperative transportation of an unknown payload (with a weight of about 2.7 kg and maximum length of 1.6 m) was demonstrated using eight robots, even under robot failure. Finally, it was shown that the proposed system carried an unknown payload, even if the attachment positions were not shared, that is, even if the asymptotic stability was not strictly guaranteed.