Hybrid Adaptive Control Strategy for a Quadcopter with Slung Load

Quadcopter–slung load systems play an important role in real‑world aerial transportation, enabling safe delivery of oversized or irregular payloads in logistics, disaster response, and industrial applications. This paper proposes a hybrid two‑stage controller that integrates PID regulation with an adaptive sliding mode (ASM) strategy to achieve robust trajectory tracking and oscillation suppression. The dynamic modeling of the coupled vehicle–payload system is derived using Lagrange’s equation under the assumption of a rigid rope with no twist and treating the payload as a point mass. Control parameters are tuned through an optimization process using the Puma Optimizer. Simulation demonstrates the effectiveness of the proposed approach. Simulation results confirm the effectiveness of the proposed approach. The decrease in settling time achieved with this controller is noticeable compared to similar works, while maintaining zero overshoot. Moreover, the system can satisfactorily track complex trajectories and attenuate slung‑load oscillations within a short duration. These findings highlight the robustness and efficiency of the hybrid PID–ASM architecture.

کلیدواژه ها:

quadcopter ، slung load ، hybrid two-stage controller ، oscillation suppression ، ASM controller