Quadrotor Control in Payload Transportation on Suspension

Abstract

This paper describes the problem of controlling a quadrotor motion in payload transportation on suspension. The suspension is a weightless rod pivotally fixed at the quadrotor mass center with a payload on its end. Equations of motion for a two-dimensional model are obtained using Lagrange equations of the second kind, which serve as a basis for a model revealing the suspension oscillations that destabilize the system. We proposed a controller based on the structural synthesis method and including the deflection angle of the rod from the vertical. The efficiency of the algorithm is confirmed by the simulation results.