Linearization-based Motion Control for Multi-Drone Slung Load Systems (MSLS)

Yongqing Liu; Zichen Zhang; Mohssen Elshaar; Alan Lynch; Qing Zhao

Linearization-based Motion Control for Multi-Drone Slung Load Systems (MSLS)

Yongqing Liu, Zichen Zhang, Mohssen Elshaar, Alan Lynch, Qing Zhao

Published: 01 Oct 2025, Last Modified: 13 Nov 2025RISEx OralEveryoneRevisionsBibTeXCC BY 4.0

Keywords: Multi-drone systems, Linearization-based control, Quasi-Static Feedback, Dynamic Extension Algorithm, ROS2, PX4 SITL

Abstract: We extend our previous work on MSLS motion control in two ways: 1) the controller implementation was upgraded from ROS1 to ROS2, 2) a simpler quasi-static controller design is proposed, and 3) the control laws were validated in PX4 SITL environment.

Submission Number: 65

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