Stabilization of serially connected suspended loads in rotorcraft transportation

This work provides an analysis of a vertical take-off and landing (VTOL) aircraft designed to transport two suspended loads connected in series via ideal cables. The study focuses on examining both the open-loop and closed-loop dynamics of the system, considering the aerodynamic effects influencing the multirotor and the suspended loads, and exploring how the interaction between them impacts overall system stability. Special attention is given to control strategies with a detailed analysis of the implementation of a closed-loop controller aimed at minimizing the oscillations of the suspended loads while preserving the stability and performance of the multirotor. The results demonstrate that the system’s stability can be significantly enhanced by adjusting control parameters, leading to improved overall performance. These findings contribute to the design of more robust VTOL systems capable of managing complex payloads, offering potential applications in logistics, rescue operations, and industrial material handling.