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Equations of motion and dynamics of a quadrotor transporting a load with aflexible cable modeled as a chain pendulum is obtained using Euler-Lagrangeequations by taking variations on manifolds. An arbitrary number of linksconsidered in a series models the flexible cable connecting the load to thequadrotor while the whole system can undergo complex motion in 3D. Geometricnonlinear control asymptotically stabilizes the load and cable bellow thequadrotor. A linearization about the equilibrium and the corresponding lyapunovstability analysis is provided. We produced numerical simulations and validatedour work experimentally using a quadrotor UAV.

Geometric Stabilization of Quadrotor UAV with a Payload Connected by Flexible Cable