Quadrotor Transporting Cable Suspended Load using ADRC

In this paper, the stability and trajectory tracking of a quadrotor suspended load system are researched. There is a great coupling effect between the quadrotor and the suspended load, which has a great influence on the stability and trajectory tracking performance of the quadrotor. The dynamic model of the quadrotor suspension system in three-dimensional space is established with the Newton-Euler and Euler-Lagrangian methods. An Active Disturbance Rejection Control(ADRC) controller is designed, and the swing of the suspended load is considered to be an external disturbance. The simulation results show that the ADRC strategy achieves good control effect.