An Anti-swing Trajectory Approach for an Unmanned Aerial Vehicle with A Slung Payload

The quadrotor UAV with a slung load is a typical underactuated system because there is no direct control acting on the payload, which makes it challenging to achieve the quadrotor's precise positioning and the payload's swing elimination simultaneously. We solve the problem from the perspective of trajectory planning. An online anti-swing trajectory approach is proposed in this paper, which is convenient and efficient without iterative optimization. And we prove the convergence of the quadrotor's position and the payload's suppression by utilizing Lyapunov-based analysis. Finally, simulation results show the effectiveness of the proposed trajectory which has a good performance.