An Anti-Swing Controller for Aerial Transportation System with Flexible Suspending Rope

Numerous researches on aerial transportation uses the assumption that the payload is connected via a rigid rope. Although this assumption makes sense in most situations, it will still lose effectiveness occasionally. Therefore, this paper considers the dynamics and control of a system with flexible rope. Based on assumed mode method(AMM) and the assumption that the length of the rope remains unchanged, the dynamic model of this system is established by Euler-Lagrange techniques. Subsequently, through the energy-based analysis method, we design a nonlinear anti-swing controller. Asymptotic results are obtained with rigorous theoretical derivations provided by the Lyapunov-based stability analysis and LaSalle’s invariance theorem. Two groups of simulation results are provided to demonstrate the superior performance of the proposed controller.