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Damping control of a quadrotor with swinging load using input shaping method

This paper presents the designing and simulation of a swing reducing controller for a quadrotor with a swing load system using an input shaping theory. The input shaping controller is a feed-forward controller that is added to reduce oscillations of the swinging load by improving the damping characteristics of pendulum modes. Simulations are presented and it is shown that a significant improvement of the oscillation behavior can be achieved.