Swing compensation of a payload suspended to a planar copter

A switching strategy to compensate copter's sus- pended payload swing is presented. In order to prevent the payload swing during the maneuvers, the inverse input shaper is placed to the feedback loop. This approach prevents payload swinging in presence of set-point change or control input disturbance. Nevertheless, in case of external disturbance acting on payload directly, input shaper is powerless. Therefore, a nonlinear time-delayed algorithm is involved to suppress the residual swing by up and down motion of the copter. However, there's no need to use that algorithm all the time. Thus, a switching strategy between the two algorithms is developed and presented. A simulation based verification is performed to validate the results.