Abstract

This paper highlights the significance of modelling and controlling the dynamics of a load which is suspended on the quadrotor Centre of Gravity. The oscillation of the suspended load degrades the quadrotor performance. So, the analysis of the dynamically coupled model is done and a higher order sliding mode controller is developed to counteract the effect of suspended load. A super twisting control input was derived to suppress the load swing. The results were compared with that of a conventional SMC. The conventional sliding mode controller caused unwanted oscillations called chattering in the control system. The simulation results show the effectiveness of the control system.

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