In the recent few years, extensive researches and studies have been carried out for the cooperation of robots with each other. This issue has been significant growth in military and rescue fields, as well as in the intelligentization of robotic and mechatronic system. This research addresses the topic of two-dimensional transport of a fluid-containing container using multiple quadcopters. The objective of this study is employment of multiple quadcopters to transfer a fluid-containing container from a position to the desired position. It is appropriate that this task is performed such that each quadcopter bears a nearly equal share of the container weight. The research procedure is structured as follows: Initially, the modeling and derivation of equations for the fluid-containing container are performed. Subsequently, the validity of the derived equations is assessed through the design of creative and intuitive scenarios depicting the movement of the fluid-containing container under specific stimuli. Employing a cascade control approach, a controller is designed for the fluid-containing container. The forces and angles of the connecting links between the quadcopters and container are determined such that the fluid-containing container reaches the desired point with small slushing. By determining the forces of the connecting links, the desired positions of the quadcopters are derived. Subsequently, the controller of each quadcopter must be designed such that quadcopters can reach their desired positions requested by the fluid-containing container. In this research, the connecting links between the fluid-containing container and quadcopters are considered as springs under tension with a high stiffness coefficient. In this research, to compare and improve the performance of the system (container, quadcopters and connecting cables), its behavior has been eva‎luated by designing the three controllers of LQR, feedback linearization and adaptive. Results show that each controller get better performance than its previous controller. For quadcopters, PID controller with gravity compensation is designed based on pole placement.

سعيد بهبهاني

مهدي كشميري

مصطفي غيور , مهدي سلماني تهراني