Geometric stabilization of a quadrotor uav with a payload connected by flexible cable

Abstract — This paper deals with dynamics and control of a quadrotor UAV with a payload that is connected via a flexible cable, which is modeled as a system of serially-connected links. It is shown that a coordinate-free form of equations of motion can be derived for an arbitrary number of links according to Lagrangian mechanics on a manifold. A geometric nonlinear control system is also presented to asymptotically stabilize the position of the quadrotor while aligning the links to the vertical direction. These results will be particularly useful for aggressive load transportation that involves deformation of the cable. The desirable properties are illustrated by a numerical example and a preliminary experimental result. I