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In this paper, an exponentially stable trajectory tracking controller isproposed for multi-UAV payload transport. The multi-UAV payload system has a2-DOF magnetic spherical joint between the UAVs and the vertical rigid links ofthe payload frame, so the UAVs can roll or pitch freely. These vertical linksare rigidly attached to the payload and cannot move. An input-output feedbacklinearized model is derived for the complete payload-UAV system along withthrust vectoring control for trajectory tracking of the payload. Thetheoretical analysis on tracking control laws shows that control law isexponentially stable, thus guaranteeing safe transportation along the desiredtrajectory. To validate the performance of the proposed control law, theresults for a numerical simulation as well as a high-fidelity Gazebo real-timesimulation are presented. Next, the robustness of the proposed controller isanalyzed against two practical situations: External disturbance on the payloadand payload mass uncertainty. The results clearly indicate that the proposedcontroller is robust and computationally efficient while achievingexponentially stable trajectory tracking.

An Input-Output Feedback Linearization based Exponentially Stable Controller for Multi-UAV Payload Transport