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arXiv · 2611.00887

Multi-quadrotor systems interconnected via structurally unknown forces and moments

Kaiyue Xing·Shivansh Pratap Singh·Sarthak Mishra·Di Liu·Spandan Roy·Simone Baldi·Leonid Fridman
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Abstract

This work addresses the challenge of controlling multi-quadrotor systems subject to tight uncertain couplings. We consider interconnection forces and moments among the quadrotors to be state-dependent functions of the coordination errors, without assuming knowledge of their functional/parametric structures, e.g., no linear-in-parameters assumptions are made. We only rely on general state-dependent quadratic bounds valid for several Euler-Lagrange mechanical systems. We propose a coordination strategy embedding adaptive laws dedicated to compensating for the lack of structural knowledge. Unlike conventional decoupled position-attitude designs, we present a coupled stability analysis accounting for the position-attitude couplings induced by the interconnection forces and moments. The analysis, along with real experiments involving cooperative aerial transportation of rope-interconnected payloads, demonstrates the effectiveness of the proposed solution in compensating for these complex interconnections. Comparative experiments show that, when a payload drop induces a disturbance propagating through the ropes across the whole formation, the proposed strategy reduces significantly post-disturbance transients.

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Kaiyue Xing, Shivansh Pratap Singh, Sarthak Mishra, Di Liu, Spandan Roy, Simone Baldi, Leonid Fridman. 2026-10-31. Multi-quadrotor systems interconnected via structurally unknown forces and moments. https://arxiv.org/abs/2611.00887

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