Geometric control for trajectory?tracking of a quadrotor UAV with suspended load

A geometric control is proposed for the trajectory-tracking of a quadrotor unmanned aerial vehicle with suspended load. The plant to be controlled modelled by using Euler–Lagrangian equations, and it linearised around zero swing angles load are supposed unmeasurable, they estimated state observer. controller design in inner–outer loop framework, where outer basically implemented internal model principle, inner attitude designed on S O ( 3 ) $SO(3)$ avoid singularities. It proved that, control, tracking error converges finite time, trajectory asymptotically stable. Theoretical results substantiated numerical example, closed-loop system capable circular curve.