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

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.