Nowadays, due to some problems such as the presence of heavy traffic or dangerous and impassable places, aerial traortation of objects through helicopters, airplanes, and UAVs has been one of the most important research areas. Among aerial vehicles, quadrotors have attracted more attention, because of their low applications costs and safety for human pilot (due to remote control). However, carrying a payload with quadrotors has some limitations like constrained the capacity of quadrotors for traortation of a payload. Researchers try to eliminate these limitations. One of the solutions is applying multi-agent systems which helps several quadrotors can move coordinately. In this thesis, a novel and complete dynamic model is proposed for aerial traortation of a rigid body with arbitrary number of quadrotors. This model not only consider the load as a rigid body but also consider the mass, flexibility, and tension of cables which are connected to different points of the load. The cable is modeled as successive masses, springs, and dampers. First, according to the kinematic, kinetic and potential energies are derived and then the motion equations of the system are determined through the Euler-Lagrange method. The proposed controller contains three parts; navigation control, formation control and attitude control part. The first part is navigation control that obtains the position and velocity of an imaginary leader based on the position and velocity of payload and their error. The second part is formation control which avoids collision of quadrotors and reduces the swing of the load. Here, the dynamics of quadrotors as agents can be represented as a double integrator. Then based on this dynamic, a sliding mode controller is designed to maintain the formation. In addition, the desired attitudes and the thrust forces of quadrotors are created. The determined attitudes are used as the desired attitudes in the attitude controller to provide appropriate control input for regulating quadrotors angles; indeed, the third part guarantees the stability of each quadrotor. The previous works did not design a controller for aerial traortation of 6 DOF load, however in this thesis, the proposed control system enable us to do this. Finally, the proposed modeling and control scheme for the traorting a 6 DOF body using a team of quadrotors is confirmed through simulation for a homogeneous and a nonhomogeneous body. The results reveal that although quadrotors are in different initial conditions, after a while, they get the desired formation and by keeping it during trajectory tracking, they carry the load successfully to the desired location with appropriate velocity. Keywords: Quadrotors, Swing load traortation, Euler-Lagrange, Flexible cable, Multi-agent systems, Formation control, Sliding mode control, Attitude control
