Tianqi Xia, Enzeng Dong, Sen Yang, Jigang Tong, Shengzhi Du
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Modeling and Control Design for Quadrotor Transporting System With a Cable-Suspended Rigid Payload
In this paper, facing the aerial transportation task with a large volume cargo, the system of quadrotor with a cable-suspended rigid payload is investigated. The dynamic model of proposed system is built with Lagrange d’Alembert principle. The dynamic model is linearized to design the feedback control method. Finally, two groups of numerical simulation with proposed feedback controller are designed to demonstrate the effectiveness of system model and the results of simulation illustrate satisfactory performance.
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