Study on control method of a rotor UAV transportation with slung-load

The ability of a UAV to carry externally slung loads can provide significant benefits to several applications in agriculture, law enforcement and construction. Especially, the UAV delivery service is very popular now. Because of the strong disturbances and complex effects in the UAV slung-load system, the flight characteristics of the flying system are significantly altered. In this paper, the model of rotor UAV is linearized and decoupled at the hover point and then four linear subsystem models are achieved. A new improved L1 Adaptive Control method and Linear Active Disturbance Rejection Controllern (LADRC) are put forward for subsystems of UAV slung-load system to make UAV fly stable. The proposed control method can estimate the impact of parametric uncertainties and disturbances of slung load. Finally, simulation results show that these control laws obtain desirable transient performance and robustness for dynamics of UAV slung-load system.