Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load Using Multiple UAVs

Sihao Sun*, Antonio Franchi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)
69 Downloads (Pure)


In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that takes into account the full nonlinear model of the load-UAV system, and ensures all the feasibility constraints concerning the UAV maximumum and minimum thrusts, the collision avoidance between the UAVs, cables and load, and the tautness and maximum tension of the cables. By taking into account the above factors, the proposed control algorithm can fully exploit the performance of UAVs and facilitate the speed of operation. Simulations are conducted to validate the algorithm to achieve fast and safe manipulation of the pose of a rigid-body payload using multiple UAVs.
We demonstrate that the computational time of the proposed method is sufficiently small (
Original languageEnglish
Title of host publication2023 International Conference on Unmanned Aircraft Systems (ICUAS)
Number of pages7
ISBN (Electronic)979-8-3503-1037-5
ISBN (Print)979-8-3503-1038-2
Publication statusPublished - 26 Jun 2023
EventInternational Conference on Unmanned Aircraft Systems, ICUAS 2023
- Warsaw, Poland, Warsaw, Poland
Duration: 6 Jun 20239 Jun 2023


ConferenceInternational Conference on Unmanned Aircraft Systems, ICUAS 2023
Abbreviated titleICUAS 2023


  • Uncertain systems
  • Computational modeling
  • Transportation
  • Prediction algorithms
  • Numerical simulation
  • Collision avoidance
  • Predictive control


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