Nonlinear control of a planar vertical take‐off and landing with a slung load

Abstract

This paper presents the development of the dynamical model of a planar vertical take‐off and landing (PVTOL) carrying a suspended load. The complete model is obtained using the Euler–Lagrange approach. Furthermore, the synthesis of a nonlinear control is presented that stabilizes the vehicle to a desired position, and the load is stabilized as well. The stability is obtained using LaSalle invariance theorem. The performance of the obtained controller is shown in numerical simulations.