An Input Saturated Trajectory Tracking Approach for UAV Cargo Transportation Systems with Double-Pendulum Oscillation Suppression

This paper examines the dynamic behavior of a quadrotor-based transport system exhibiting double-pendulum swinging dynamics when subjected to external disturbances. And a trajectory tracking controller with anti-swing effects is designed to carry out for the UAV transportation systems and suppress the swings of hook and payload. Experimental results show that this strategy ensures rapid convergence and exceptional tracking accuracy with external disturbances. When evaluating against diverse control techniques, the efficacy of the strategy is substantiated through comprehensive theoretical analysis and extensive numerical simulations.