Control Architecture for a Quadrotor Transporting a Cable-Suspended Load of Uncertain Mass

This paper presents an architecture for controlling a quadrotor transporting cable-suspended load of uncertain mass. A family trajectories is proposed that composed by three phases—lift-off, transit, and landing—and implemented as hybrid system. The control system uses adaptive geometric controller with asymptotic tracking stability. mass the transported was estimated using mechanism, which adjusts action resorting to method. resulting validated in simulation mid-flight reduction load, tests were performed range values maximum forward velocity. There work literature approaches component problem, there are also papers focused on uncertainty model, included. aimed solve these two problems simultaneously, having being suspended load.