In this article, a novel online antiswing trajectory planning approach is proposed for a quadrotor slung-load system, which is an underacuated, strong coupling, and nonlinear system so that it is difficult to achieve the quadrotor's precise positioning and the payload's swing suppression simultaneously. The proposed trajectory planning approach is efficient and convenient without iterative optimizations. Specially, the proposed trajectory planning strategy is composed of two parts: a target positioning part and an antiswing part. The convergence of the quadrotor's positioning and payload's swing suppression is proved by Lyapunov-based analysis. Experimental results show that the proposed trajectory has achieved satisfied control performance.

中文翻译：

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悬挂式四旋翼无人机在线轨迹规划方法


本文针对四旋翼飞行器悬挂负载系统提出了一种新颖的在线防摇摆轨迹规划方法，该系统是一个欠真空、强耦合、非线性系统，难以同时实现四旋翼飞行器的精确定位和有效载荷的摇摆抑制。所提出的轨迹规划方法高效且方便，无需迭代优化。特别地，所提出的轨迹规划策略由两部分组成：目标定位部分和防摇摆部分。基于Lyapunov的分析证明了四旋翼飞行器定位和有效载荷摆动抑制的收敛性。实验结果表明，所提出的轨迹取得了满意的控制性能。