Nonlinear Geometric Control Design for a Helicopter UAV Transportation System via Diverse Cables

To account for the practical applications of the quadrotor helicopter UAV slung-payload transportation system and the variety of the cable connecting the UAV and the payload, this paper modifies the dynamics of the UAV slung-payload system and proposes a geometric-based nonlinear controller to achieve accurate trajectory tracking. Inner and outer loop controllers are jointly designed, and Lyapunov-based stability analysis is employed to prove the closed-loop system's stability. Numerical simulations demonstrate the effectiveness of the proposed control strategy.

1 Introduction

In recent years, research on quadrotor UAVs has increased due to the demand for efficient operations in rescue, courier services, agriculture, military, etc ^[1]–[3]. The quadrotor UAV slung-payload transportation system has gained attention for its potential applications in these fields above.