Composite Disturbance Rejection Control Strategy for Multi-Quadrotor Transportation System

In this paper, a composite disturbance rejection control algorithm is developed for cooperatively carrying a cable-suspended payload in multi-quadrotor transportation system (MQTS). Firstly, based on the Newton Euler's method and orthogonal force decomposition, a precise MQTS model is established which takes a general rigid body payload into account. Then, a multi-loop control strategy is designed to deal with the coupled states and underactuation in MQTS, where the payload is expected to move along a desired trajectory. Furthermore, the disturbance observer (DOB) is introduced, and the disturbance estimation is incorporated in controller to actively compensate the effect of external disturbance in different control loop. Finally, the effectiveness of the proposed method is validated by simulation results.