Trajectory control of a suspended load with non-stopping flying carriers

This paper presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. Building upon grasp-matrix formulations and internal force redundancy, we propose a feedback wrench controller that actively regulates the payload's pose while an optimization layer dynamically shapes internal-force oscillations to guarantee persistent carrier motion. Preliminary experimental results on multirotor UAVs validate the model assumptions, and numerical simulations demonstrate that the method successfully prevents carrier stagnation, achieves accurate load tracking, and generates physically feasible trajectories with smooth velocity profiles. The proposed framework not only advances the state of the art but also offers a reliable, versatile solution for future real-world applications requiring load transportation by coordinated non-stopping flying carriers.