Modeling, Simulation, and Control of a Formation of Multirotor Aircraft for Transportation of Suspended Loads

This work aims to contribute to the innovation in the urban air mobility and delivery sector and represents a starting point for air logistics and its future scenarios. The dissertation focuses on modeling, simulation, and control of a formation of multirotor aircraft for cooperative load transportation, with particular attention to the stabilization of payload swing motion. Starting from the mathematical model of two identical multirotors, formation-flight-keeping and collision-avoidance algorithms are implemented to ensure the safety of the vehicles within the formation and that of the payload. Then, a mathematical model for the suspended load is implemented, as well as an active controller for its stabilization. The focus of this section is thus represented by the analysis of payload oscillatory motion, whose kinetic energy decay is investigated. Several test cases are presented to establish the most effective and safe strategy in light of future aerospace applications.