Trajectory control of a suspended load with non-stopping flying carriers

This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by computing the wrench required for tracking its desired pose trajectory. Building upon grasp-matrix formulation and internal force redundancy, an optimization layer dynamically shapes internal-force parameters to guarantee persistent carrier motion, while not altering the desired load wrench. The desired non-stopping carrier's trajectories are computed using the system's kinematics and desired cable forces. Numerical simulations demonstrate that the method successfully prevents the carriers from stopping, while achieving a successful tracking of the desired load trajectory.