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In this paper, first the full dynamics of aerial transportation of a rigidbody with arbitrary number of quadrotors is derived. Then a control strategy isproposed to convey the nonuniform rigid body appropriately to the desiredtrajectory. In the dynamical model of this transportation system, not only theload is considered as a nonuniform and non-homogeneous rigid body but alsomass, flexibility, and tension of the cables are considered. Each cable ismodeled as successive masses, springs, and dampers where each mass, spring, anddamper has 4 degrees of freedom (DOF). The Euler-Lagrange equations are used toderive the motion equation. The control strategy includes three loops ofattitude control, formation control, and navigation control. The sliding modecontrol is designed based on multi-agent systems for the formation controlwhere the controller is proven to be asymptotically stable. The navigationcontrol loop, based on the load states, guarantees that the load reaches thedesired location. Finally, numerical examples and simulations are presented toverify the appropriate operation of the proposed system for transporting bothhomogeneous and non-homogeneous bodies by spreading quadrotors according tomass distribution of the body.

Cooperative Aerial Transportation of Nonuniform Load through Quadrotors by Elastic and Flexible Cables