Disturbance Rejection Observer Parametric Design for Quadrotor with Suspended Payload via Fully Actuated System Approach

The quadrotors have a wide range of applications in a variety of industries, particularly in the logistics and transportation industries. The quadrotor with suspended payload (QWSP) transportation system is a nonlinear and strongly coupled system. Current research on the control of the QWSP system is primarily based on first-order system methodologies such as the Lyapunov method, backstepping method, sliding mode control, and passivity-based control. By contrast, high-order fully actuated system methodology exhibits a lots of characteristics and advantages for nonlinear systems. This paper primarily discusses the analysis of the QWSP system based on fully actuated system methodology. Firstly, the model of the QWSP system is presented, and a vision-based measurement scheme for suspended payload swing angle information is proposed. Next, the transformation of the QWSP system's fully-actuated system model is analyzed. Finally, a state observer for the QWSP system is designed utilizing the parametric design method, and numerical simulations along with result analysis are conducted.