Control of Transitory Take-Off Regime in the Transportation of a Pendulum by a Quadrotor.

In this article, a q-learning control strategy is proposed for a system consisting of a UAV lifting a damped pendulum from the ground. This dynamic system is highly nonlinear and thereafter, it represents a challenging task to get a smooth and precise behaviour. Aerial transportation of a pendulum in a stable way is a step forward in the state of art, which permits to study the delivery of different deformable linear objects.