Differential Flatness and Minimum Snap Trajectory Generation for Cooperative Manipulation of Quadrotors Slung-Load System

The problem of cooperative manipulation of quadrotors slung-load system with the two quadrotors and a cable-suspended point-mass load is emphasized in the paper. The hybrid dynamic model is presented on the configuration space SE(3)×S
²
. The quadrotors slung-load system is created to be a differential flat system with the yaw angles of quadrotors and the load position using as the flat outputs. The attitude and control input of the i
^th
quadrotor can be described by this set of outputs and their finite order derivatives. Moreover, the minimum snap trajectory with guiding term is designed for the quadrotors slung-load system to safe pass through a fixed rectangular corridor. The optimal load trajectory can be obtained by jointly constructing equality and inequality constraints based on minimum objective function. Finally, the numerical simulations are conducted to estimate the effectiveness of the recommend control pattern.