Abstract
Research in the area of hauling loads using an Unmanned Aerial Vehicle (UAV) has been very restricted. The main obstacle is that the model for the vehicle and the load together is not yet established and available. The next hurdle faced is while designing a controller for an underactuated UAV. Finally, the last obstacle is the control of the load swing during hauling. These challenges make it a very intriguing area of research. The aim of this work is to propose a model for the UAV with a slung load. A feedback linearization controller which helps in trajectory tracking of the UAV and a time-delayed feedback controller to stabilize the load swing angles are also proposed which work together to make the overall system stable.
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