Flatness-Based Motion Control of a UAV Slung Load System Using Quasi-Static Feedback Linearization

This paper proposes an algorithm for deriving a quasi-static feedback for a general nonlinear differentially flat system. We apply this algorithm to design a quasi-static controller to track the payload position and yaw of a Unmanned Aerial Vehicle (UAV) multirotor Slung Load System (SLS). The design achieves full state feedback linearization of SLS with the important property that the control law is a static function of SLS state, i.e., no additional controller states are required as in full linearization achieved by the dynamic extension algorithm (DEA). The proposed controller ensures linear time-invariant exponentially stable error dynamics on a well-defined and practical region of state space. The design is validated in simulation.