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Abstract
We address a cooperative transport control problem involving three or more unmanned aerial vehicles (UAVs). We realize the transportation of an object that cannot be carried with a small number of UAVs. To improve scalability and real-time performance, we propose a controller that does not require optimization calculations. The attitude and position of the transported object are controlled by contact forces with the UAVs. The control system comprises two steps in which (1) a force is allocated to each UAV and (2) UAVs realize the force allocation using a decentralized disturbance observer-based controller. A friction cone constraint related to static friction is considered using the redundant degree of freedom in the force allocation. The effectiveness of the controller is verified in numerical simulations.