A Novel Energy-Coupling-Based Hierarchical Control Approach for Unmanned Quadrotor Transportation Systems

Cable-suspended transportation is an important way of transferring goods and materials by rotorcraft in complex and hazardous environments, where external disturbances, system uncertainties, and, especially, the underactuated characteristic bring great challenges to realize safe and smooth deliveries. In terms of the aforementioned problems, this paper presents an enhanced coupling hierarchical co...