• admittance controller
• aerial transportation
• Cooperative transportation

In the following thesis, the study of the cooperative transportation of a load, performed by aerial robots without explicit communication is considered. Theoretical results together with simulations are presented. To solve the problem, a master-slave approach is pro- posed. The proposed control architecture is an admittance controller on both the master and the slave. The master receives a desired trajectory as external input, while the slave passively follows the master giving its contribution in lifting the load. At the beginning, the transportation of a bar performed by two aerial robots is considered. The passivity of the system is proven with respect to an energy-like storage function and and a certain input-output pair. Then, the equilibrium configurations of the system are studied, and the stability of the equilibria is analysed with direct Lyapunov method and La Salle’s invari- ance principle. A method to stabilize the load in a final desired configuration is given.