Development of a New Approach for Modelling and Control of Heterogeneous Multirotor UAVs (MUAVs) Transporting Different Payloads

This thesis presents new methods for using drones, like quadcopters, to transport cargo. It details mathematical models to analyse how various types of cargo affect these flying machines, ranging from simple packages to liquid tanks. The study also investigates the effect of using different cargo-attachment methods, such as using suspension cables. Then, it outlines advanced control strategies to ensure the stability of the flying carriers, both with and without a payload. Additionally, this work describes the design and construction of three distinct drones for cargo transportation applications. Overall, this research improves our understanding and applications of drones in aerial transportation.