Quadrotor transportation systems are capable of transferring necessary relief supplies in emergency tasks. In practice, the nonnegligible hook and the payload's scale make the system exhibits double-pendulum swing dynamics, which bring great challenges to controller design and stability analysis. To realize rapid swing suppression and efficient quadrotor positioning, a nonlinear controller is designed. Specifically, a composite signal is constructed. The closed-loop asymptotic stability analysis and simulation results are provided to verify the effectiveness of the control scheme.

This study is published on Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019