Quad-rotor lifting-transporting cable-suspended payloads control

This paper presents the control of quadrotor UAV with cable-suspended stability. A linear quadratic regulator (LQR) control algorithm is proposed for lifting and transporting the load. The nonlinear dynamic model of the vehicle is represented with considering the cable-suspended load in eight degree of freedom, then the model is linearized at the hovering point. Two modes of taking-off are used, starting with taking-off without the load effect then switching to taking-off with the effect of load. The simulation presents the results to show the system stability and verify the LQR gains. The results are compared with the PD controller results