Modeling and Analysis of Four-UAV-Slung-Load System

For multi-UAV (Unmanned Aerial Vehicle) lifting systems consisting of multiple quadcopters and payloads, strong dynamic coupling effects can arise on the quadcopter UAV, resulting in significant challenges in system modeling. The expression of the binding force between UAV and payload has been a difficult point of study for many researchers. In this paper, the Udwadia-Kalaba method and the Euler-Lagrangian method are utilized to model the multi-UAV hoisting system. The Gaussian principle is used to prove the universality of the mappable transformation between the two methods. The advantages and disadvantages of different modeling methods for the coordinated lifting system are analyzed, along with their influence on the design of control methods.