Nonlinear Control of a Fully-Actuated Hexacopter with a Cable-Suspended Load

This paper introduces a novel nonlinear controller to address load transportation problems of fully-actuated un-manned aerial vehicle (UAV). Unlike existing controllers, this controller employs a layered structure, where the outer loop controls the payload and its speed, while the inner loop controls the attitude of the load. Given the full actuation of the UAV, translation and attitude are separated, allowing independent control of the attitude. The stability of the system is verified. Finally, the system's performance is validated in a ROS/Gazebo simulation environment.