Geometric Control and Experimental Validation for a Quadrotor UAV Transporting a Payload

The payload is initially staying at a stationary point, then starts following a Lissajous curve (at 0:10 s), while increasing the altitude slowly. The starting point of the desired trajectory is different from the initial stationary point, which is the reason for the large swing at the beginning (at 0:11 s). The UAV finally comes to a stop at around 1:00 s.

A geometric controller is used to control the UAV attitude (not the position) so that payload follows the desired trajectory. The controller uses the knowledge of payload position and the direction of the link connecting the payload to the UAV. Further, the control law consider the effects of mass distribution of the link, which leads to faster convergence and lower error magnitudes.

[sashabandini]

Is there a public code for this paper?