Dynamics modeling and analysis for unmanned quadrotor transportation systems with double-pendulum swing effects

Due to the double-pendulum phenomenon in practical applications of the quadrotor transportation systems, most existing control methods based on simplified single-pendulums are no longer applicable. To achieve simultaneous quadrotor positioning control and swing elimination for the hook and the payload, an accurate system model is of great significance. Specifically, the dynamic equation of the plant is obtained by Lagrange's modeling method. The main characteristics of the system is then analyzed based on the derived model. Numerical simulations for the two control schemes are presented to reveal the characteristics of the unmanned quadrotor transportation systems