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Groups of unmanned aerial vehicles (UAVs) are increasingly utilized intransportation task as the combined strength allows to increase the maximumpayload. However, the resulting mechanical coupling of the UAVs impose newchallenges in terms of the tracking control. Thus, we design a geometrictrajectory tracking controller for the cooperative task of four quadrotor UAVscarrying and transporting a rigid body, which is attached to the quadrotors viainflexible elastic cables. The elasticity of the cables together withtechniques of singular perturbation allows a reduction in the model to that ofa similar model with inelastic cables. In this reduced model, we design acontroller such that the position and attitude of the load exponentiallyconverges to a given desired trajectory. We then show that this result leads toan uniformly converging tracking error for the original elastic model undersome assumptions. Furthermore, under the presence of unstructured disturbanceson the system, we show that the error is ultimately bounded with an arbitrarilysmall bound. Finally, a simulation illustrates the theoretical results.

Geometric Control for Load Transportation with Quadrotor UAVs by Elastic Cables