Multi-agent UAV System Control for Transporting Oversized Payload

Abstract

The article solves the problem of transporting an oversized payload in space-constrained environments using a multi-agent unmanned aerial vehicle system. An adaptive hybrid control method combining relay (Bang-Bang) speed control at large suspension deflection angles and optimal linear-quadratic regulation (LQR) at small angles is synthesized. A mathematical model coupling payload pendulum dynamics, elastic cable tension, and quadcopter dynamics with force and energy constraintsis proposed. To maintain group formation geometry and proportional tension distribution, a consensus protocol with hysteresis switching is integrated. The quality assessment of the multi-agent system is carried out by an integral indicator that includes mechanical stability, power consumption, and the angle of deflection of the payload to suppress pendulum oscillations for safe maneuvering in narrow spaces. Simulation in MATLAB for a group of 4 to 8 DJI M300 UAVs carrying a 20–30 kg payload along a parabolic trajectory demonstrated significant performance improvements. Compared to traditional PID and standalone LQR controllers, the proposed approach reduced settling time to 4.3 seconds, suppressed maximum overshoot to 3%, and lowered total energy consumption to 32 kJ. The proposed algorithm provides effective oscillation damping and dynamic cohesion, making it suitable for urban logistics, port infrastructure operations, and disaster recovery.