Load Swing Suppression and Path Tracking Control of the Quadrotor with Non-Centroid Suspended Payload in Windy Environments

In this paper, considering the influence of non-centroid suspension payload on the attitude of the quadrotor and the aerodynamic effect of the wind field on the system, modeling and control of the quadrotor-payload system are studied. Firstly, the Euler-Lagrange equation is used to model the system of quadrotor with the cable suspension load. Secondly, to control the disturbed system, a double-loop control method consisting of a quadrotor anti-disturbance control loop and a load swing control loop is proposed. Finally, the simulation results show that the model can reflect the impact of wind interference on the system and the coupling between the position and attitude of the quadrotor and the load in the system. The control algorithm achieves a good load swing suppression and path tracking performance in windy environments.