Continuum Deformation of a Multi-Quadcopter System in a Payload Delivery Mission

Hossein Rastgoftar, Ehsan Taheri, Amir H. Ghasemi, Ella M. Atkins, Anouck Girard

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


In this paper, we consider the collective motion of a multi-quadcopter system (MQS) for a payload delivery mission. Collective motion of the MQS is treated as continuum deformation given by a homogeneous transformation. With this formulation, MQS inter-agent distances can be expanded or contracted while collision avoidance is assured. Because changes in inter-agent distances can increase stiffness of cables connecting a payload to the quadcoptors, controllers must be robust to external excitation. The desired reference trajectories have been realized using a backstepping control strategy, which is free from small-angle assumptions and is demonstrated capable of disturbance rejection in simulation.

Original languageEnglish (US)
Pages (from-to)3455-3462
Number of pages8
Issue number1
StatePublished - Jul 2017
Externally publishedYes


  • Backstepping
  • Collective Motion
  • Homogeneous Deformation
  • Multi-Quadcopter System (MQS)
  • Payload Delivery

ASJC Scopus subject areas

  • Control and Systems Engineering


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