Nonlinear Geometric Control Design for a Helicopter UAV Transportation System via Diverse Cables

To account for the practical applications of the quadrotor helicopter UAV slung-payload transportation system and the variety of the cable connecting the UAV and the payload, this paper modifies the dynamics of the UAV slung-payload system and proposes a geometric-based nonlinear controller to achieve accurate trajectory tracking. Inner and outer loop controllers are jointly designed, and Lyapunov-based stability analysis is employed to prove the closed-loop system's stability. Numerical simulations demonstrate the effectiveness of the proposed control strategy.