This paper presents the problem of safe and fast transportation of packages by an
Unmanned Aerial Vehicle (UAV) kind quadrotor. A mathematical model and a control …

Aerial delivery is becoming a reality due to the development of microelectronics and
communication technology. Most existing methods for cable-suspended transportation …

This paper presents an iterative linear quadratic regulator (iLQR) optimal controller of a high
level dynamic model using Euler-Lagrange equations for a single quadrotor UAV with a …

A quadrotor with a cable-suspended load with eight degrees of freedom and four degrees
underactuation is considered and the system is established to be a differentially-flat hybrid …

The stability and trajectory control of a quadrotor carrying a suspended load with a fixed
known mass has been extensively studied in recent years. However, the load mass is not …

Quadrotor unmanned aerial vehicles, with excellent maneuver performance and flexibility,
are widely used in cargo transportation. Due to higher requirements for load capacity, dual …

This paper presents a geometric finite-time inner-outer loop control strategy for slung
payload transportation using a quadrotor. The underactuated nature of the quadrotor in …

We address the problem of trajectory tracking control of a quadrotor-slung-load system. A
novel control framework is proposed that relaxes the differentiability class order of the …

This paper presents a nonlinear backstepping controller designed for an underactuated
quadrotor-slung load system that drives the load to a predefined trajectory. The quadrotor …

We study a quadrotor with a cable-suspended load, where the cable length can be
controlled by applying a torque on a pulley attached to the quadrotor. A coordinate-free …