Trajectory control of a quadrotor carrying a cable-suspended load

In this paper, the problem of controlling the trajectory motion of a quadrotor with a suspended load is considered. Using the Lagrange equations of the second kind, the equations of motion of the quadrotor-load system in three-dimensional space are obtained. The authors propose a control algorithm based on stable differential equations describing transients according to the mismatch of current and target coordinates. The effectiveness of the algorithm is confirmed by the results of numerical modeling.