Passivity based control for a quadrotor UAV transporting a cable-suspended payload with minimum swing

In the present work a mathematical model and a control methodology for a special class of underactuated mechanical system, composed by an Unmanned Aerial Vehicle (UAV) kind quadrotor transporting a cable-suspended payload, is proposed. The Euler-Lagrange formulation is used to derive the dynamic model of the system, where the integrated dynamics of the quadrotor, cable and payload are considered. An Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) for a quadrotor UAV transporting a cable-suspended payload is developed. The control law designed does not depend on the swing angle of the cable. The control objective is to transport the payload from point to point, with swing suppression along trajectory. Experimental results are shown to evaluate the proposed control law.