Abstract
Quadrotors have proven to be a versatile class of machines with many applications. Quadrotors carrying suspended loads exhibit an oscillatory mode much like a crane. However, the swinging payload can greatly disturb the quadrotor and lead to control difficulties and instability. A dynamic model of a quadrotor carrying a suspended payload is presented. The dynamic model is used to demonstrate the effect of system parameters and move distances on the dynamic response. Various types of input-shaping control are also investigated as a method to reduce swing and improve control performance.
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