Vibration Elimination for Quadrotor Slung System Based on Input Shaping and Double Closed-loop Control

Undesirable residual vibration in dynamical system always causes many problems in logistic industries. For instance, a quadrotor is now considered to be used to deliver cargos instead of road transportation. However, the swing of cargos during the transportation process always causes threat to its safety and stability. In this paper, the mathematical model of a quadrotor slung system is established, and a double closed-loop control strategy is proposed, together with an input shaping design, to reduce the swing angle of load and keep quadrotor stable simultaneously in the presence of system uncertainties. Some numerical simulations are presented and the results verify the effectiveness of the proposed method.