Predefined Time Anti-Swing Control of Quadrotor UAV Transportation Systems via 3-D Spatial Decomposition

Air transport technology is vital for emergency and transportation tasks, such as disaster relief and crop transportation. This paper proposes a predefined time controller (PTC) for the quadrotor uncrewed aerial vehicle (UAV) transportation system (QUTS) to achieve rapid trajectory tracking while suppressing payload swing under strong coupling and external disturbances. A dynamic model of the QUTS is developed using the Newton-Euler method, and a nonlinear cascade control scheme is established with three loops: an outer loop for position control, a middle loop for payload swing angle control, and an inner loop for attitude control. The boundedness and predefined-time convergence of the QUTS are proven using the Lyapunov method. Compared to the asymptotically stable controller, the fixed-time adaptive controller, and the no-swing angle controller, on one hand, unlike traditional controllers that exhibit longer and condition-dependent settling times, the PTC ensures predefined-time convergence, leading to rapid system stabilization. On the other hand, the PTC achieves higher trajectory tracking accuracy and superior anti-swing performance. Note to Practitioners—In critical missions such as emergency rescue, rapid response and precise control of aerial transportation system are crucial. Unexpected payload swing can lead to safety incidents, and external disturbances further challenge stability. Considering the underactuated nature of the QUTS, the swinging motion of the payload cannot be directly controlled. To address these issues, this paper presents a cascade control scheme featuring predefined time convergence, comprising an outer loop for quadrotor position control, a middle loop for payload swing angle control, and an inner loop for quadrotor attitude control, effectively enhancing the system’s stability and disturbance rejection capabilities. Rigorous mathematical analysis confirms the closed-loop stability of the system, and numerical simulations validate its effectiveness in achieving fast convergence, accurate trajectory tracking, and enhanced anti-swing performance. Future research will focus on applying this control scheme to real-world aerial transportation tasks, particularly in the field of emergency rescue.