Nonlinear control and analysis of a quadrotor with sling load in path tracking

The structure of quadrotor with suspended load is widely used in many fields such as military and civilian. A wide range of research in this structure was implemented and have achieved a variety of results. With the deeper of research, many problems are urged to be solved under the concern of security. For example, the oscillation degree of the suspended load. At first, this paper proposed a nonlinear dynamics model of quadrotor with a suspended load. Then, a proportional plus derivative controller is carried out to realize the trajectory tracking without consideration the vibration of the suspended load. Finally, the simulation results show that the dynamics of the system and performance of path tracking.