Modeling and Control of Quadrotor Transporting Cable-Suspended Load in the Longitudinal & Lateral Planes

In this paper, the problem of modeling and stabilization of a quadrotor transporting cable-suspended load are investigated. Based on the Lagrange d’Alembert formulation, the system modeling the quadrotor with cable suspended load is presented. In the (XGZ) plane, we use backstepping control method and Lyapunov theory to stabilize the study system in the neighborhood of a desired position and attitude. Next, we illustrate how to planning and tracking a reference trajectory of quadrotor transporting cable-suspended load system based on the property of differential flatness. In the (YGZ) plane, we use input-output linearization to stabilize the system. Simulations are performed to prove the performance of the proposed controllers.