Modular Multi-Copter Structure Control for Cooperative Aerial Cargo Transportation

Dimitris Chaikalis, Nikolaos Evangeliou, Anthony Tzes, Farshad Khorrami

Research output: Contribution to journalArticlepeer-review


The control problem of a multi-copter swarm, mechanically coupled through a modular lattice structure of connecting rods, is considered in this article. The system’s structural elasticity is considered in deriving the system’s dynamics. The devised controller is robust against the induced flexibilities, while an inherent adaptation scheme allows for the control of asymmetrical configurations and the transportation of unknown payloads. Certain optimization metrics are introduced for solving the individual agent thrust allocation problem while achieving maximum system flight time, resulting in a platform-independent control implementation. Experimental studies are offered to illustrate the efficiency of the suggested controller under typical flight conditions, increased rod elasticities and payload transportation.

Original languageEnglish (US)
Article number31
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number2
StatePublished - Jun 2023


  • Adaptive controls
  • Aerial transportation
  • Cooperative aerial vehicles
  • Multi-agent swarms

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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