Trajectory Generation and Control in a Special Transport Mission of a Cable-Suspended Point-Mass Load from a Quadrotor

Abstract

In this study, trajectory planning and control of a cable-suspended load from a quadrotor in aspecial transportation mission are addressed. The mission under consideration in this studyincludes picking up and transportation of the load toward a defined point at a specified time.Therefore, two trajectory tracking controllers are designed for the quadrotor and the load.Controllers are designed geometrically via Backstepping and configuration error functionsdefined on S2 and SO(3) in the literature of Lie groups. By this way, common singularities ofregular quadrotor attitude controllers are avoided. Moreover, sufficient conditions for success ofthe proposed control laws are calculated using Lyapunov exponential stability theorem and anargument about singularly perturbed systems. All simulations are performed on anexperimentally verified model of OS4 quadrotor and capabilities of the designed control lawsare demonstrated.