Abstract:Aiming at the problem of swing angle suppression in the flight of a quadrotor UAV with a suspended payload system, a quadrotor UAV with a suspended payload controller based on the nested saturation is proposed considering that too fast position maneuvers will easily cause the suspension to swing greatly. First, a vertical position controller with strong anti-disturbance capability is designed by using the extended state observer to estimate the disturbance. Second, an anti-swing controller is designed to control the convergence of the swing angle by constructing the Lyapunov function based on the simplified model. Finally, a horizontal position controller is designed to limit the maneuvering speed based on a nested saturation control method. The simulation comparison with the existing control method shows that the proposed controller can not only ensure the stable flight of a quadrotor UAV with a suspended payload system but also effectively reduce the maximum swing under the large-scale position maneuver commands.