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Journal of Robotics
Volume 2014 (2014), Article ID 265897, 12 pages
Research Article

Dynamics Modeling and Control of a Quadrotor with Swing Load

1Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran 19991 43344, Iran
2Department of Agro-Technology, College of Aburaihan, University of Tehran, Pakdasht, Tehran 11365/4117, Iran

Received 19 May 2014; Revised 15 September 2014; Accepted 21 October 2014; Published 17 November 2014

Academic Editor: Bijan Shirinzadeh

Copyright © 2014 S. Sadr et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in order to control the position and attitude of the quadrotor. The performance of this proposed controller is evaluated by nonlinear simulations and, finally, the results demonstrate the effectiveness of the control strategy for the quadrotor with suspended load in various maneuvers.