Offset-Aware Dual Quaternion Control for UAVs with Cable-Suspended Loads

Modeling the kinematics and dynamics of UAVs with cable-suspended loads using dual quaternions remains an area requiring further exploration, especially when considering the offset between the attachment point and the UAV's center of mass. This work introduces a novel control strategy based on dual quaternions for sling load cargo UAV (cUAV) systems with offset attachments. Leveraging the mathematical efficiency and compactness of dual quaternions, we establish a unified representation of the kinematics and dynamics of both the UAV and its suspended load. Extensive simulations and realworld experiments were conducted to evaluate the accuracy and robustness of the proposed strategy. The results demonstrate the controller's reliability and stability across various conditions in practical cUAV applications. This study makes a contribution to the presentation of this novel control strategy that harnesses the benefits of dual quaternions for cUAVs. Our work also holds promise for inspiring future innovations in under-actuated systems control using dual quaternions.