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

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/y7hhyl5cd46yh9v88cg5qf1lj
- Original: https://arxiv.org/abs/2609.31035

## Summary

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.