A Hybrid Control Approach for the Swing Free Transportation of a Double Pendulum with a Quadrotor

In this article, a control strategy approach is proposed for system consisting of quadrotor transporting double pendulum. our case, we attempt to achieve swing free transportation the pendulum, while closely follows specific trajectory. This dynamic highly nonlinear, therefore, fulfillment complex task represents demanding challenge. Moreover, achieving dampening pendulum oscillations following precise trajectory are conflicting goals. We apply proportional derivative (PD) and model predictive (MPC) controllers task. Transportation multiple with an aerial robot step forward in state art towards study loads dynamics. provide modeling For MPC define cost function that has be minimized optimal control. report encouraging positive results on simulated environmentcomparing performance MPC-PD circuit against PD-PD configuration, three fold reduction maximum swinging angle.