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Unmanned aerial vehicles serve as carriers for diverse payloads, emphasizing the importance of achieving load transportation with trajectory-smoothing capabilities to ensure safety. Addressing the challenge of payload transport in varying environments involves coping with external disturbances like wind and uncertainties linked to the payload. This paper introduces a control strategy consisting of two loops. The outer loop employs robust backstepping control to attain Euler angles and control laws. Meanwhile, the inner loop utilizes a controller combining backstepping and fast terminal sliding mode control to regulate the yaw angle and tilting angles. The research adopts a comprehensive modeling approach, using the Lagrange-Euler method for the translational subsystem of the quadrotor and dynamic modeling for the suspended load, alongside the Newton-Euler method for the rotational subsystem. The aim is to identify a suitable control strategy that ensures practical guidance and stability for the entire system. The proposed method exhibits robust performance in tracking desired trajectories and managing load perturbations within a finite time. Lastly, simulation results are presented, comparing the proposed control method with other approaches. The simulations demonstrate the superior performance of the proposed control method over other techniques
Kashi et al. (Thu,) studied this question.