Feasible Force Set Shaping for a Payload-Carrying Platform Consisting of Tiltable Multiple UAVs Connected Via Passive Hinge Joints

Feasible Force Set Shaping for a Payload-Carrying Platform Consisting of Tiltable Multiple UA Vs Connected Via Passive Hinge Joints Takumi Ito 1, Hayato Kawashima 1, Riku Funada 1, and Mitsuji Sampei 1 Abstract -- This paper presents a method for shaping the feasible force set of a payload-carrying platform composed of multiple Unmanned Aerial V ehicles (UA Vs) and proposes a control law that leverages the advantages of this shaped force set. The UA Vs 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 UA Vs, 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. I. INTRODUCTION The advancement of Unmanned Aerial V ehicles (UA Vs) has enabled applications to be conducted automatically, such as agriculture [1], environmental monitoring [2], and inspection [3]. Additionally, there is potential for using UA Vs in payload transportation [4] due to increased package supplies and a labor shortage. Despite these diverse applications, conventional UA Vs, consisting of multiple rotors pointing upward and placed on the same plane, are known as an un-deractuated system at SE(3) space (six-dimensional space).