Nonlinear control for the extended model of the load-suspended UAV based on the experiments

Abstract In recent years, to solve the problem of shortage of delivery staff caused by high demand in the delivery industry, it is expected to carry packages while a UAV tows them. However, when towing, the control performance of the aircraft deteriorates due to the influence of the weight and shaking of the towed object, so it is necessary to control the aircraft in consideration of the behavior of the towed object. To address this issue, an input design with hierarchical linearization has been proposed for the UAV that tows an object, but it has not been experimentally verified. In this paper, we conducted experiments and confirmed the existence of the modeling error. Thus, we built a model reflecting the actual structure of towing of UAV. We applied the redesigned controller to the simulation model and verified its performance.