Control of the Trajectory Movement of a Quadrocopter during Transportation of Cargo on a Suspension: Experiment

The problem of controlling the movement of a quadrocopter during transportation of cargo on a suspension is considered. This paper presents the results of an experimental verification of a previously developed nonlinear regulator for suppressing suspension vibrations relative to the vertical. The description of the created experimental stand for flight control of a small-sized quadrocopter in the room is given.