Nowadays, aerial robots or Unmanned Aerial Vehicles (UAV) have many applications in civilian and military fields. For example, of these applications is aerial monitoring, picking loads and moving them by different grippers. In this research, a quadrotor with a cable-suspended load with eight degrees of freedom is considered. The purpose is to control the position and attitude of the quadrotor on a desired trajectory in order to move the considered load with constant length of cable. So, the purpose of this research is proposing and designing an antiswing control algorithm for the suspended load. To this end, control and stabilization of the quadrotor are necessary for designing the antiswing controller. Furthermore, this paper is divided into two parts. In the first part, dynamics model is developed using Newton-Euler formulation, and obtained equations are verified in comparison with Lagrange approach. Consequently, a nonlinear control strategy based on dynamic model is used in order to control the position and attitude of the quadrotor. The performance of this proposed controller is evaluated by nonlinear simulations and, finally, the results demonstrate the effectiveness of the control strategy for the quadrotor with suspended load in various maneuvers. 1. Introduction Quadrotor is a rotorcraft whose flight is based on rotation of two pairs of rotors that rotate opposite to each other. As shown in Figure 1, the different movement of quadrotor is created by a difference in the velocity of rotors. If the velocity of rotor 1 (or 2) decreases and the velocity of rotor 3 (or 4) increases, then the roll (or pitch) motion is created and the quadrotor moves along the -axis (or the -axis). Moreover, a quadrotor is an aerial robot which has the potential to hover and take off, fly, and land in small areas. In addition, this robot has applications in different fields, among which are safety, natural risk management, environmental protection, infrastructures management, agriculture, and film protection. Moreover, a quadrotor is an underactuated system since it has six degrees of freedom and only four inputs. However, a quadrotor is inherently unstable and it can be difficult to fly. Thus, the control of this nonlinear system is a problem for both practical and theoretical interest. Many control algorithms are tested and implemented on this aerial robot in order to stabilize and move in different tasks. Among these algorithms are classic control, linear and nonlinear state feedback control, sliding mode control, back stepping control, and fuzzy and neural network
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