Research on Modeling and Control of a Quadrotor Slung-Load System Based on Kane’s Method

ZHOU Jiaxing; YU Zicheng; GAO Dengwei; HUANG Guilan; CHEN Zhigao; DENG Zhao

doi:10.15892/j.cnki.djzdxb.2025.05.033

Journal of Projectiles, Rockets, Missiles and Guidance >

2025 , Vol. 45 >Issue 5: 887 - 899

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2025.05.033

Academic article

Research on Modeling and Control of a Quadrotor Slung-Load System Based on Kane’s Method

ZHOU Jiaxing ^,¹^,² ,
YU Zicheng ^,¹^,²^,^* ,
GAO Dengwei ³^,⁴ ,
HUANG Guilan ¹^,² ,
CHEN Zhigao ¹^,² ,
DENG Zhao ¹^,²

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¹ Xiamen University of Technology, School of Electrical Engineering and Automation, Xiamen 361024,Fujian, China
² Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control, Xiamen 361000,Fujian, China
³ Xi’an Mordern Control Technology Research Institute, Xi’an 710065,Fujian, China
⁴ National Key Laboratory of Land and Air Based Information Perception and Control, Xi’an 710065,Fujian, China

Received date: 2025-04-10

Online published: 2025-11-28

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Abstract

To address the problems of cumbersome modeling procedures, low computational efficiency in conventional methods(Newton-Euler/Lagrange) for quadrotor UAV slung-load systems, and excessive load swing stabilization time, this study first proposes a Kane’s method-based approach for establishing the dynamic model of the quadrotor slung-load system. This method eliminates the need to analyze ideal constraint forces required in Newton-Euler formulations and avoids computations of dynamic functions and their derivatives in Lagrange methods. Building upon this foundation, an anti-swing controller integrating Adaptive Moment Estimation-Neural Network-PID (Adam-NN-PID) is designed, combined with a swing angle-displacement control strategy to achieve rapid load stabilization. Finally, the simulation introduces multiple wind disturbances to investigate the dynamic control performance. Results demonstrate that compared to conventional PID and BPNN-PID swing angle controllers, the proposed Adam-NN-PID anti-swing controller achieves faster load stabilization with reduced swing amplitude.

Key words： Quadrotor suspend; Kane modeling; Load swing control; Adam-NN-PID

Cite this article

ZHOU Jiaxing , YU Zicheng , GAO Dengwei , HUANG Guilan , CHEN Zhigao , DENG Zhao . Research on Modeling and Control of a Quadrotor Slung-Load System Based on Kane’s Method[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2025 , 45(5) : 887 -899 . DOI: 10.15892/j.cnki.djzdxb.2025.05.033

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