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Bannikov A. A., Deryushev P. N., Karavaev Y. L.
Control Algorithm for Position Stabilization of a Group of Mechanically Coupled UAVs
Mekhatronika, Avtomatizatsiya, Upravlenie, 2026, vol. 27, no. 4, pp. 215-224
Abstract
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This paper addresses the problem of developing a control system for a group of multirotor unmanned aerial vehicles (UAVs) collaboratively transporting a payload. The importance of this problem arises from the growing interest in cooperative UAV systems for logistics, industrial automation, and rescue operations. The configuration of UAVs under consideration is characterized by the payload being attached to a rigid frame and each UAV connected to it through a spherical joint, forming a mechanically coupled system. Such a configuration is of particular interest for studying complex dynamical systems with mechanical couplings and for developing effective methods of cooperative control. To support analysis and controller design, a mathematical model is proposed that describes the dynamics of both individual UAVs and the coupled system as a whole, including the interaction between the aerial vehicles and the payload. Based on this model, a control algorithm was developed to ensure stable and coordinated motion of the UAV group along prescribed trajectories while maintaining the required payload orientation. The study demonstrates that the proposed algorithm stabilizes the UAV system under external disturbances and during motion along complex flight paths, while also demonstrating scalability to larger UAV groups and various payload configurations. Simulation results validate the effectiveness of the developed control system. The findings can be applied in the design of real-world cooperative transport prototypes and contribute to the advancement of cooperative UAV control methods. The presented results hold practical significance for logistics, delivery of goods to hard-to-reach areas, and the collaborative use of UAVs in various application fields. Moreover, the proposed approaches may serve as a foundation for further research in the field of cooperative unmanned system control.
| Keywords: |
unmanned aerial vehicles, cooperative transportation, stabilization, modeling |
| Citation: |
Bannikov A. A., Deryushev P. N., Karavaev Y. L., Control Algorithm for Position Stabilization of a Group of Mechanically Coupled UAVs, Mekhatronika, Avtomatizatsiya, Upravlenie, 2026, vol. 27, no. 4, pp. 215-224 |
| DOI: |
10.17587/mau.27.215-224 |
| Full text: |
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(784.78 Kb)
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