NDO-Based Dual Quaternion Control of a Drone with a Cable-Suspended Load

Abstract

This paper proposes a novel nonlinear disturbance observer (NDO) based dual quaternion dynamics modeling and control framework for a drone with a cable-suspended load. Leveraging dual quaternions, a compact and singularity-free mathematical representation, we derive a unified dynamic model that captures the coupled translational and rotational dynamics of both the drone and the slung load. NDOs are designed to estimate and compensate for uncertainties and external disturbances affecting the drone and the load. Building on this framework, we develop a robust control strategy that ensures precise trajectory tracking of the slung load while maintaining stable drone attitude control. The effectiveness of the proposed approach is validated through comprehensive simulations and real-world experiments on a cargo drone platform. The results highlight the robustness and reliability of the system in practical scenarios, demonstrating its potential application in cargo transportation.