Feasible Force Set Shaping for a Payload-Carrying Platform Consisting of Tiltable Multiple UAVs Connected Via Passive Hinge Joints
Abstract
This paper presents a method for shaping the feasible force set of a payload-carrying platform composed of multiple Unmanned Aerial Vehicles (UAVs) and proposes a control law that leverages the advantages of this shaped force set. The UAVs are connected to the payload through passively rotatable hinge joints. The joint angles are controlled by the differential thrust produced by the rotors, while the total force generated by all the rotors is responsible for controlling the payload. The shape of the set of the total force depends on the tilt angles of the UAVs, which allows us to shape the feasible force set by adjusting these tilt angles. This paper aims to ensure that the feasible force set encompasses the required shape, enabling the platform to generate force redundantly -meaning in various directions. We then propose a control law that takes advantage of this redundancy.
Cite
@article{arxiv.2503.00341,
title = {Feasible Force Set Shaping for a Payload-Carrying Platform Consisting of Tiltable Multiple UAVs Connected Via Passive Hinge Joints},
author = {Takumi Ito and Hayato Kawashima and Riku Funada and Mitsuji Sampei},
journal= {arXiv preprint arXiv:2503.00341},
year = {2026}
}
Comments
This work has been accepted to IFAC for publication under a Creative Commons Licence CC-BY-NC-ND