JRM Vol.33 No.2 pp. 274-282
doi: 10.20965/jrm.2021.p0274


Feedback Control for a Drone with a Suspended Load via Hierarchical Linearization

Kazuma Sekiguchi, Wataru Eikyu, and Kenichiro Nonaka

Department of Mechanical Systems Engineering, Faculty of Engineering, Tokyo City University
1-28-1 Tamazutsumi, Setagaya-ku, Tokyo 158-8557, Japan

September 23, 2020
February 2, 2021
April 20, 2021
drone, cable-suspended load, hierarchical linearization, differential flatness
Feedback Control for a Drone with a Suspended Load via Hierarchical Linearization

Result snapshots using the proposed controller

As a possible extension of a drone application, transportation of a cable-suspended load is expected. The model of a drone with a suspended load is a nonlinear underactuated system that is known to be difficult to analyze and control. This paper applies the linearization method, known as hierarchical linearization, to the system. We observed that, via the hierarchical linearization scheme, the system can be linearized exactly and the controller can be designed simultaneously. There are two features of this approach. First, the controller exactly considers the system nonlinearity, and the feedback controller is based on the linear control theory. Second, it is possible to derive the analytical solution of the closed-loop system. We have demonstrated these features via numerical simulations.

Cite this article as:
Kazuma Sekiguchi, Wataru Eikyu, and Kenichiro Nonaka, “Feedback Control for a Drone with a Suspended Load via Hierarchical Linearization,” J. Robot. Mechatron., Vol.33, No.2, pp. 274-282, 2021.
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Last updated on May. 10, 2021