摘要：AbstractThis paper focuses on the motion control problem for a quadrotor with a slung load (QSL). A dynamic model of a QSL is proposed by Lagrangian approach. We considered the air resistance of the load in the model building. Based on such a dynamical model, we propose a novel nonlinear three-loop cascade controller to realize velocity control for the load of a QSL, and the exponential stability of the whole system is proved. Numerical simulations implemented in a Matlab/SimMechanics environment demonstrate the effectiveness of the designed controller and the proposed model.
