Adaptive Load Position Control for Quadrotor with a Cable-Suspended Payload by Considering Quadrotor as an Actuator

The payload position control problem for the quadrotor with a cable-suspended system is challenging due to its underactuated nature, particularly when the actuation dynamics are considered. To address these limitations, we transform the payload system into a fully actuated system by modeling the quadrotor as an equivalent actuator. We then design a hierarchical control framework based on the backstepping technique, which consists of the payload position controller, the swing angle controller, and the adaptive actuator controller to control both the payload position and quadrotor actuation. The asymptotic stability of the overall system is proved by the Lyapunov method. Finally, the feasibility of the proposed methodology is demonstrated through simulations.