A Trajectory Generation Method for Quadrotor and Cable Suspended Load Stability

In this paper, a trajectory generation strategy that is conducive to quadrotor and load stability are presented for a quadrotor unmanned aerial vehicle (UAV) with cable suspended load. First, the Euler-Lagrange formulation is used to obtain the dynamic model of the system, where the integrated dynamics of the quadrotor and cable suspended load are considered. Second, the differential flatness is used to generate trajectory that is conducive to quadrotor and load stability. Finally, the system is divided into two parts: a full-drive part and an under-actuation part, and a sliding mode controller is designed to restrain the attitude change caused by the swing of the load. Numerical simulation results using quadrotor and load attitude change are shown to evaluate the proposed control law.