Abstract
A common assumption to simplify the problem of controlling a multi-UAV slung load system (MUSLS) is that the flexible cables can be modeled as massless rigid rods. In this work, we propose an alternative Euler-Newton derived dynamical model which uses a series of rigid links to model the flexible cables. The model is specifically designed to allow efficient simulation using Featherstone's articulated body algorithm. We perform real-world validation of this model on gentle, aggressive, and tension-engagement maneuvers and run a parameter sweep to determine the number of links, joint damping, and joint friction to achieve the greatest model fidelity. The model closely matches real-world flight data with mean load translation errors below 132 mm (5.5% of the cable length) and orientation errors below 11.4 degrees. We make the real-world flight data publicly available for the development of future cable models.
Keywords
Publication details
- Journal
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- Open access
- Green open access
Cite this article
APA 7
Merton, H., & Hunter, I. W. (2026). Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach. https://omanscience.com/en/articles/dynamics-modeling-of-a-multi-uav-slung-load-system-using-a-discrete-link-cable-approach
MLA 9
Merton, Harvey, and Ian W. Hunter. "Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach." https://omanscience.com/en/articles/dynamics-modeling-of-a-multi-uav-slung-load-system-using-a-discrete-link-cable-approach.
Chicago (author–date)
Merton, Harvey, and Ian W. Hunter. 2026. "Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach." https://omanscience.com/en/articles/dynamics-modeling-of-a-multi-uav-slung-load-system-using-a-discrete-link-cable-approach.
Harvard
Merton, H. and Hunter, I. W. (2026) 'Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach', Available at: https://omanscience.com/en/articles/dynamics-modeling-of-a-multi-uav-slung-load-system-using-a-discrete-link-cable-approach.
Vancouver
Merton H, Hunter IW. Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach. https://omanscience.com/en/articles/dynamics-modeling-of-a-multi-uav-slung-load-system-using-a-discrete-link-cable-approach
IEEE
H. Merton, and I. W. Hunter, "Dynamics Modeling of a Multi-UAV Slung Load System Using a Discrete-Link Cable Approach," https://omanscience.com/en/articles/dynamics-modeling-of-a-multi-uav-slung-load-system-using-a-discrete-link-cable-approach.