Optimal control strategies for load carrying drones

International audienceThis paper studies control strategies for load carrying drones. Load carrying drones not only have to fly in a cooperative way but also are mechanically interconnected. Due to these characteristics the control problem is an interesting and challenging issue to deal with. Throughout this paper, a dynamic model based on first principles is developed. To that end, it is proposed to model this system as a ball and beam system lifted by two drones. Afterwards, different control techniques are implemented and compared by simulations. Specifically, linear quadratic regulator (LQR) and model predictive control (MPC) are studied. Both control techniques belong to the optimal control methodology. This comparison is interesting since LQR permits to perform an optimal control law with short execution times while MPC deals with physical constraints and predictions, being the execution time and the physical constraints important issues to handle in this kind of systems. Finally, simulation results and open issues are discussed