Swing Reduction for Elastic Suspension System of Quadrotor UAV

To tackle the swing angle issue encountered by quadrotor unmanned aerial vehicles (UAVs) during the transportation of suspended loads, this paper concentrates on the dynamics of elastic suspended loads in three-dimensional space. Utilizing a three-dimensional dynamic model for the elastic suspended load associated with UAVs, an adaptive nonlinear controller is developed. The stability of the system is established through Lyapunov's theory. Finally, to validate the effectiveness of the proposed controller, simulation tests are performed. The results indicate that it is the controller which can effectively mitigate the oscillatory motion of the elastically suspended system under conditions involving unknown loads.