Modelling and control of a PVTOL quadrotor carrying a suspended load

This work proposes the representation of the high level dynamic model of a quadrotor UAV with a suspended load, through Euler-Lagrange equations. The rotorcraft movement is restricted to the XZ plane of the Cartesian space, so that it performs like a PVTOL machine. A nonlinear controller is proposed to stabilize the quadrotor and the load, during positioning and trajectory tracking tasks. Finally, simulated results are presented in order to validate the proposal.