Article

Compact Force Sensor and Tension-Aware Outer-Loop Control for Dual-UAV Cable-Suspended Payload Transport

This study proposes a dual-UAV payload transport framework that uses a custom compact force sensor at the cable anchor point to measure interaction forces, with static and dynamic tests evaluating its linearity, hysteresis, repeatability, and crossload. Control uses a cascade structure: inner loops handle vehicle stabilization, while outer loops compensate for the measured forces, validated in simulations and indoor experiments under position uncertainty. Payload-drop and constrained-space tests compared with literature-based distributed methods show improved stability, coordination, and disturbance rejection.

Part of the event: Dual-Drone Cable Suspension: Force Sensors and Tension Outer-Loop Control

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