A Fully Actuated System Approach to Tracking Control of Quadrotor UAVs with a Hanging Payload

Fuxing Yao; Zhijie Liu; Zongbiao Weng; Guangbin Cai; Guang Ren Duan; He Kong

doi:10.1007/978-3-032-09051-5_12

A Fully Actuated System Approach to Tracking Control of Quadrotor UAVs with a Hanging Payload

Fuxing Yao
, Zhijie Liu
, Zongbiao Weng
, Guangbin Cai
, Guang Ren Duan
, He Kong^*

^*Corresponding author for this work

School of Astronautics

Southern University of Science and Technology
Rocket Force University of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Underactuated quadrotor unmanned aerial vehicles (UAVs) offer a viable solution for payload transportation but present significant challenges in attitude stabilization and swing suppression control. To address these issues, this study proposes a fully actuated (FA) system approach to tracking control of a quadrotor UAV with a hanging payload (HP). First, we establish the dynamic model of the quadrotor UAV HP system based on the Euler-Lagrange equation. Then, for the planar quadrotor UAV HP system, we transform its underactuated model into an FA one by leveraging the tools and concepts of the recently developed FA system approach. To mitigate system swing, we utilize a first-order filter for the payload swing angle and develop the FA control framework. Finally, we derive the closed-loop feedback system and conduct a series of numerical simulations to validate the performance of the proposed FA control framework.

Original language	English
Title of host publication	AI Enabled Robotic Loco-Manipulation - Proceedings of the CLAWAR 2025 Conference
Editors	Qiang Li, Ming Xie, Mohammad Osman Tokhi, Manuel F. Silva
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	127-136
Number of pages	10
ISBN (Print)	9783032090508
DOIs	https://doi.org/10.1007/978-3-032-09051-5_12
State	Published - 2026
Event	28th International conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2025 - Shenzhen, China Duration: 5 Sep 2025 → 7 Sep 2025

Publication series

Name	Lecture Notes in Networks and Systems
Volume	1665 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	28th International conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2025
Country/Territory	China
City	Shenzhen
Period	5/09/25 → 7/09/25

Keywords

Quadrotor UAV
fully actuated system approach
nonlinear control
tracking control
underactuated system

Access to Document

10.1007/978-3-032-09051-5_12

Cite this

Yao, F., Liu, Z., Weng, Z., Cai, G., Duan, G. R., & Kong, H. (2026). A Fully Actuated System Approach to Tracking Control of Quadrotor UAVs with a Hanging Payload. In Q. Li, M. Xie, M. O. Tokhi, & M. F. Silva (Eds.), AI Enabled Robotic Loco-Manipulation - Proceedings of the CLAWAR 2025 Conference (pp. 127-136). (Lecture Notes in Networks and Systems; Vol. 1665 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-032-09051-5_12

Yao, Fuxing ; Liu, Zhijie ; Weng, Zongbiao et al. / A Fully Actuated System Approach to Tracking Control of Quadrotor UAVs with a Hanging Payload. AI Enabled Robotic Loco-Manipulation - Proceedings of the CLAWAR 2025 Conference. editor / Qiang Li ; Ming Xie ; Mohammad Osman Tokhi ; Manuel F. Silva. Springer Science and Business Media Deutschland GmbH, 2026. pp. 127-136 (Lecture Notes in Networks and Systems).

@inproceedings{af66b73ecfb54161ad5f696a74b29216,

title = "A Fully Actuated System Approach to Tracking Control of Quadrotor UAVs with a Hanging Payload",

abstract = "Underactuated quadrotor unmanned aerial vehicles (UAVs) offer a viable solution for payload transportation but present significant challenges in attitude stabilization and swing suppression control. To address these issues, this study proposes a fully actuated (FA) system approach to tracking control of a quadrotor UAV with a hanging payload (HP). First, we establish the dynamic model of the quadrotor UAV HP system based on the Euler-Lagrange equation. Then, for the planar quadrotor UAV HP system, we transform its underactuated model into an FA one by leveraging the tools and concepts of the recently developed FA system approach. To mitigate system swing, we utilize a first-order filter for the payload swing angle and develop the FA control framework. Finally, we derive the closed-loop feedback system and conduct a series of numerical simulations to validate the performance of the proposed FA control framework.",

keywords = "Quadrotor UAV, fully actuated system approach, nonlinear control, tracking control, underactuated system",

author = "Fuxing Yao and Zhijie Liu and Zongbiao Weng and Guangbin Cai and Duan, \{Guang Ren\} and He Kong",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.; 28th International conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2025 ; Conference date: 05-09-2025 Through 07-09-2025",

year = "2026",

doi = "10.1007/978-3-032-09051-5\_12",

language = "英语",

isbn = "9783032090508",

series = "Lecture Notes in Networks and Systems",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "127--136",

editor = "Qiang Li and Ming Xie and Tokhi, \{Mohammad Osman\} and Silva, \{Manuel F.\}",

booktitle = "AI Enabled Robotic Loco-Manipulation - Proceedings of the CLAWAR 2025 Conference",

address = "德国",

}

Yao, F, Liu, Z, Weng, Z, Cai, G, Duan, GR & Kong, H 2026, A Fully Actuated System Approach to Tracking Control of Quadrotor UAVs with a Hanging Payload. in Q Li, M Xie, MO Tokhi & MF Silva (eds), AI Enabled Robotic Loco-Manipulation - Proceedings of the CLAWAR 2025 Conference. Lecture Notes in Networks and Systems, vol. 1665 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 127-136, 28th International conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2025, Shenzhen, China, 5/09/25. https://doi.org/10.1007/978-3-032-09051-5_12

A Fully Actuated System Approach to Tracking Control of Quadrotor UAVs with a Hanging Payload. / Yao, Fuxing; Liu, Zhijie; Weng, Zongbiao et al.
AI Enabled Robotic Loco-Manipulation - Proceedings of the CLAWAR 2025 Conference. ed. / Qiang Li; Ming Xie; Mohammad Osman Tokhi; Manuel F. Silva. Springer Science and Business Media Deutschland GmbH, 2026. p. 127-136 (Lecture Notes in Networks and Systems; Vol. 1665 LNNS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Fully Actuated System Approach to Tracking Control of Quadrotor UAVs with a Hanging Payload

AU - Yao, Fuxing

AU - Liu, Zhijie

AU - Weng, Zongbiao

AU - Cai, Guangbin

AU - Duan, Guang Ren

AU - Kong, He

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.

PY - 2026

Y1 - 2026

N2 - Underactuated quadrotor unmanned aerial vehicles (UAVs) offer a viable solution for payload transportation but present significant challenges in attitude stabilization and swing suppression control. To address these issues, this study proposes a fully actuated (FA) system approach to tracking control of a quadrotor UAV with a hanging payload (HP). First, we establish the dynamic model of the quadrotor UAV HP system based on the Euler-Lagrange equation. Then, for the planar quadrotor UAV HP system, we transform its underactuated model into an FA one by leveraging the tools and concepts of the recently developed FA system approach. To mitigate system swing, we utilize a first-order filter for the payload swing angle and develop the FA control framework. Finally, we derive the closed-loop feedback system and conduct a series of numerical simulations to validate the performance of the proposed FA control framework.

AB - Underactuated quadrotor unmanned aerial vehicles (UAVs) offer a viable solution for payload transportation but present significant challenges in attitude stabilization and swing suppression control. To address these issues, this study proposes a fully actuated (FA) system approach to tracking control of a quadrotor UAV with a hanging payload (HP). First, we establish the dynamic model of the quadrotor UAV HP system based on the Euler-Lagrange equation. Then, for the planar quadrotor UAV HP system, we transform its underactuated model into an FA one by leveraging the tools and concepts of the recently developed FA system approach. To mitigate system swing, we utilize a first-order filter for the payload swing angle and develop the FA control framework. Finally, we derive the closed-loop feedback system and conduct a series of numerical simulations to validate the performance of the proposed FA control framework.

KW - Quadrotor UAV

KW - fully actuated system approach

KW - nonlinear control

KW - tracking control

KW - underactuated system

UR - https://www.scopus.com/pages/publications/105021815591

U2 - 10.1007/978-3-032-09051-5_12

DO - 10.1007/978-3-032-09051-5_12

M3 - 会议稿件

AN - SCOPUS:105021815591

SN - 9783032090508

T3 - Lecture Notes in Networks and Systems

SP - 127

EP - 136

BT - AI Enabled Robotic Loco-Manipulation - Proceedings of the CLAWAR 2025 Conference

A2 - Li, Qiang

A2 - Xie, Ming

A2 - Tokhi, Mohammad Osman

A2 - Silva, Manuel F.

PB - Springer Science and Business Media Deutschland GmbH

T2 - 28th International conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2025

Y2 - 5 September 2025 through 7 September 2025

ER -

Yao F, Liu Z, Weng Z, Cai G, Duan GR, Kong H. A Fully Actuated System Approach to Tracking Control of Quadrotor UAVs with a Hanging Payload. In Li Q, Xie M, Tokhi MO, Silva MF, editors, AI Enabled Robotic Loco-Manipulation - Proceedings of the CLAWAR 2025 Conference. Springer Science and Business Media Deutschland GmbH. 2026. p. 127-136. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-032-09051-5_12