This paper investigates the problem of cooperative payload delivery by two quadrotors with a novel “Y”-shaped cable that improves payload carrying and dropping efficiency. Compared with the existing “V”-shaped suspension, the proposed suspension method adds another payload swing degree of freedom to the quadrotor–payload system, making the modeling and control of such a system more challenging. In the modeling, the payload swing motion is decomposed into a forward–backward process and a lateral process, and the swing motion is then transmitted to the dynamics of the two quadrotors by converting it into disturbance cable pulling forces. A novel guidance and control framework is proposed, where a guidance law is designed to not only achieve formation transformation but also generate a local reference for the quadrotor, which does not have access to the global reference, based on which a cooperative controller is developed by incorporating an uncertainty and disturbance estimator to actively compensate for payload swing disturbance to achieve the desired formation trajectory tracking performance. A singular perturbation theory-based analysis shows that the proposed parameter mapping method, which unifies the parameter tuning of different control channels, allows us to tune a single parameter, $\epsilon$, to quantitatively enhance both the formation control performance and system robustness. Simulation results verify the effectiveness of the proposed approach in different scenarios.

In recent years, corridor lighting has been widely used all over the world, as a simple lighting system, which provides great convenience for people to travel at night. However, with the increase in population and buildings, the number of lighting systems is increasing, and the disadvantage of low luminous efficiency of incandescent lamps is becoming more and more obvious, and the increase in electricity consumption has become a huge burden. How to reduce the electricity consumption of induction lamps in residential areas and corridors while ensuring the convenience of people's lives has become a prominent problem. This paper consulted the relevant information, chose sound and light control together, and set up a programmable delay LED lighting system. On the basis of basic lighting functions, people come to light at night, and people leave the light. By equipping the light-emitting element with higher luminous efficiency, the energy consumption is greatly reduced, and it has certain practical value. Through experiments in different scenarios, the above results are verified.