Sliding ModeBased Control of a UAV Quadrotor for Suppressing the CableSuspended Payload Vibration This paper addresses the problem of damping vibrations of a cablesuspended payload during positioning of the quadrotor. A nonlinear model is derived for the coupled quadrotorpendulum system in the XZ plane using Eulerxe2x80x93Lagrange formulation. Sliding mode control (SMC) is used for horizontal positioning and payload vibration damping, while a feedback linearizing controller is used for both altitude and attitude control. The SMC surface parameters are determined by placing the eigenvalues of the linearized system at a desired position. The simulation results show the effectiveness of the proposed control method in minimizing payload vibration by comparing it with a partial feedback linearizing controller and a ZVDD input shaper.

Collaborative Transportation of CableSuspended Payload using Two Quadcopters with Human in the loop We study the problem of collaborative transportation of cablesuspended payload using two quadcopters. While previous works on transportation using quadcopters emphasize more on autonomous control and generating complex trajectory, in this paper a masterslave strategy is implemented where the master quadcopter is controlled by human and the slave quadcopter tries to stabilize the oscillations of the payload. Two quadcopters with a cablesuspended payload system is underactuated with coupled dynamics and hence, manual control is difficult. We use Lagrangian mechanics on a manifold for deriving equations of motion and apply variation based linearization to linearize the system. We designed a Lyapunov based controller to minimize the oscillations of the payload while transportation, leading to an easier manual control of master quadcopter.