Research on anti swing control method of four-rotor hanging load system under variable load conditions

This paper designs a controller based on the energy coupling combined with the adaptive principle to address the issues of swing and inaccurate positioning caused by load changes in a four-rotor hanging load system. Considering load variability during modeling, it is divided into two parts: a fixed part and a changing part. The changing part involves online estimation using the adaptive principle. This approach effectively resolves the variable load problem while addressing the initial value problem associated with the load mass estimation. The controller accounts for the coupling between the load’s swing angle and the displacement in the four-rotor system. It exploits the underactuated characteristics of the system to suppress the load swing angle. Additionally, a potential function is incorporated into the controller to compensate for the positioning error resulting from estimation errors. The simulation results show that the designed controller can adapt to various flight transportation situations. The experimental results show that the designed controller can accurately locate and effectively suppress the swing caused by variable load compared with the conventional controller.