Advanced Anti-Swing Control of a Multirotor UAV Equipped With a Manipulator: A System Dynamics and Online Compensation Approach

Underactuated multirotor uncrewed aerial vehicle (UAV) equipped with a manipulator (UWM) face significant challenges when transporting loads, as large swings in the manipulator can resemble a double pendulum and risk dislodging the payload. With complex control requirements, nonlinear motion coupling, and variable load conditions, conventional linear controllers are often inadequate. To address these issues, we present anti-swing control method based on system dynamics characteristics and online parameter compensation (ASDOC). This novel anti-wing controller stabilizes swinging by leveraging the system's nonlinear dynamics and performing online parameter estimation, thus avoiding the limitations of linearization. This design adapts robustly to varying load characteristics, ensuring stability and reliability across diverse scenarios. Lyapunov-based analysis confirms the control objectives, while simulations substantiate ASDOC's enhanced anti-swing performance.