Modelling and control of a quadrotor carrying a suspended load

This work proposes a high level dynamic model of a quadrotor UAV with a suspended load in the three dimensional space. Euler Lagrange equations are applied, and a nonlinear controller, based on partial feedback linearization, is proposed and used to guide the quadrotor in positioning and trajectory tracking tasks. The controller is responsible for stabilizing the vehicle and for rejecting the disturbance caused by the load during the flight maneuvers. The proposal is validated by simulation results obtained using the AuRoRA platform.