Quadcopter Suspension Transport System Based on Synovial Membrane Variable Structure Control

In order to solve the problems of swing angle suppression and pose tracking control of quadcopter hanging, a synovial variable structure nonlinear controller is designed based on the inner and outer rings of the quadrotor. Aiming at the problems of load swing and mutual interference during transportation, the synovial membrane controller of the outer ring design position of the system, the design attitude of the inner ring and the synovial membrane controller of the swing angle are decoupled and controlled. By converting the horizontal output of the swing angle and position controller to the desired input of the attitude controller, the influence on the system trajectory tracking control is reduced and the swing angle of the hanging load is realized. The stability of the system by the Lyapunov function. Finally, the effectiveness and feasibility of the controller are verified by MATLAB numerical simulation.