Modeling and control of a suspended load lifted by two aerial vehicles

Abstract: In this thesis we discuss the problem of lifting and stabilizing a bar-shaped slungload, held by two UAVs (Unmanned Aerial Vehicles) which are connected to it throughcables. A mathematical model of the system is presented. After describing the systemdynamics, we identify a set of equilibrium poses and discuss the stability of a point inthis set. Then, the Gazebo simulator is used to develop and test a controller capableof stabilizing the system, rejecting disturbances, and following basic trajectories.