Trajectory tracking control design for the system of a quadrotor UAV with a suspended payload

In this paper, we present a new control strategy based on partial feedback linearization for the system of a quadrotor UAV(unmanned aerial vehicle) with a suspended payload. An input-output stable based trajectory tracking control law is first proposed. To the end of stabilizing the internal system, a coupling term is then added to the input-output control law. And then the semi-global stability of the close-loop system is demonstrated by employing Lyapunov stability analysis. The simulation results show a good performance of the trajectory tracking ability of the proposed control design.