Nonlinear Motion Control of a Multirotor Slung Load System: Experimental Results

This paper considers the motion control of a multirotor slung load system (SLS) which is capable of tracking time-varying payload reference position trajectories. The method applies a quasi-static feedback (QSF) linearization to obtain linear tracking error dynamics for the outer-loop. QSF has the practical benefit of simple static dependence on state and reference input. Further, LTI error dynamics simplify gain tuning and the stability proof. Accurate software-in-the-loop (SITL) simulation and flight tests validate tracking performance. Open-source software and hardware are used in the experiments, and source code is available.