Full-Pose Manipulation Control of a Cable-Suspended Load With Multiple UAVs Under Uncertainties

In this work we propose an uncertainty-aware controller for the <italic>Fly-crane</italic> system, a statically rigid cable-suspended aerial manipulator using the minimum number of aerial robots and cables. The force closure property of the <italic>Fly-crane</italic> makes it ideal for applications where high precision is required and external disturbances should be compensated. The proposed control requires the knowledge of the nominal values of a minimum number of uncertain kinematic parameters, thus simplifying the identification process and the controller implementation. We propose an optimization-based tuning method of the control gains that ensures stability despite parameter uncertainty and maximizes the <inline-formula><tex-math notation="LaTeX">$H_\infty$</tex-math></inline-formula> performance. The validity of the proposed framework is shown through real experiments.