Robust Control Design for the Quadrotor UAV with a Suspended Payload

In this article, the problem of the trajectory tracking control for the system of the quadrotor UAV with a suspended load is studied. By employing the backstepping technology, the virtual control law is designed to track the target trajectory of the position of the quadrotor. And for the swing angle of the suspended load, a RISE(robust integral of the sign of the error)-based controller is proposed. The stability of the closed loop system is proved via Lyapunov stability theory. Finally, the performance of the proposed control strategy is shown via simulation results.