A novel cable-suspended quadrotor transportation system: From theory to experiment

This paper studies the development of a novel quadrotor aerial transportation system, which carries payload with four cables. The possible stable configurations are discussed to show the advantages of the four-cable system. The bounds of the disturbance forces and torques acting on the quadrotor from the payload are estimated based on the dynamics analysis. Then a hierarchical adaptive controller is designed on the Lie group S O ( 3 ) for the transportation of the payload by the quadrotor. Finally, experimental results are presented to show the effectiveness of the proposed transportation system and the controller.