In this paper, the control problem for an underactuated quadrotor unmanned aerial vehicle
(UAV) with a suspended payload is investigated. An energy-based nonlinear controller is …

This paper considers a transportation system consisting of a quadrotor with a cable-
suspended payload. The main focus of this paper is to investigate the effect of polynomial …

In this article, a control strategy approach is proposed for a system consisting of a quadrotor
transporting a double pendulum. In our case, we attempt to achieve a swing free …

A filtering technique based on a set of recursive equations is analyzed and applied to swing
angle estimation for multicopter slung load applications. Starting from the equations of …

Abstract Micro Aerial Vehicles (MAVs) can be used for aerial transportation in remote and
urban spaces where portability can be exploited to reach previously inaccessible and …

A controller for stable flight and precise tracking of a multirotor unmanned aerial vehicle
(UAV) carrying a heavy slung load is presented within this paper. A novel mathematical …

This letter addresses the robust trajectory tracking problem for a Quadrotor-Slung-Load
System (QSLS), which consists of a point-mass load and a rigid-body quadrotor connected …

This study presents a numerical implementation of fast nonlinear model predictive control
(NMPC) and nonlinear moving horizon estimation (NMHE) for the trajectory tracking problem …

There is strong interest in Micro Aerial Vehicle (MAV) control architectures which are able to
systematically respect physical limitations of the plant. Nonlinear Model Predictive Control …

This study manifests a learning-based cascade nonlinear model predictive control (NMPC)
algorithm for the trajectory tracking of a tilt-rotor tricopter UAV; wherein two time-varying …