Control structure design with constraints for a slung load quadrotor system

We propose a control structure for quadrotor carrying slung load with swing-angle constraints. This is supposed to pass through the waypoints at specified speeds. First, cascaded PID autopilot designed, which adaptively gives attention position and speed requirements as function of their errors. Its parameters are found from an optimization problem solved using PSO algorithm. Second, this controller’s performance improved by adding Complementary Controller employing ANN. 5. Training data ANN created solving optimal problems. The activated when swing angle constraint about be violated. It trained values corresponding cases where falls in particular band upper constraint. Simulations performed MATLAB environment. Finally, some simulation results validated on physical system.