Vibration control of unmanned aerial vehicle with suspended load using the concept of differential flatness

There are various scenarios where Unmanned Aerial Vehicles are required to carry suspended loads. The most common of these scenarios include; military deployments, tree logging, fire fighting, package delivery, sensor survey (e.g. Magnetometer survey of the earth's magnetic field) and aerial side trimming. This work is aimed at obtaining a rest to rest trajectory for a UAV suspended load such that the load vibration is minimized. The 2D-model of the Quadcopter is used. The result from differential flatness is compared with that obtained from a closed loop control with input shaping. Based on the integral of the absolute value of the α swing rate of the pendulum, the three methods are compared and inferences are drawn.