Abstract
This paper studies the development of a novel quadrotor aerial transportation system, which carries payload with four cables. The possible stable configurations are discussed to show the advantages of the four-cable system. The bounds of the disturbance forces and torques acting on the quadrotor from the payload are estimated based on the dynamics analysis. Then a hierarchical adaptive controller is designed on the Lie group SO(3) for the transportation of the payload by the quadrotor. Finally, experimental results are presented to show the effectiveness of the proposed transportation system and the controller.
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