Modeling for Double-Pendulum Quadrotor Transportation Systems

As typical underactuated systems, quadrotor transportation systems present complicated nonlinear dynamics. For simplicity, the payload swing is generally modeled as a single-pendulum in existing works. Actually, when the hook mass is close to the payload mass, or the size of the payload is large, a quadrotor may exhibit double-pendulum effects. To tackle the aforementioned practical problems, we establish the dynamic model of the quadrotor with double-pendulum effects in this paper.