On Oscillations of a Quadrotor-Slung Pendulum with a Cavity Partially Filled with Liquid

The dynamics of a pendulum suspended from a quadrotor and having a spherical cavity partially filled with an ideal liquid is considered. It is assumed that the system moves in the vertical plane. The drag force acting on the pendulum is taken into account. In order to simulate oscillations of the liquid inside the cavity, a phenomenological pendulum model is used. An algorithm for constructing the quadrotor’s acceleration control is proposed that ensures the transition of the system to a steady horizontal flight with the specified speed along with damping of oscillations of both the pendulum and the liquid inside it (including in the presence of a constant wind).