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Volume 10
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10.3390/drones10010051
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Physical Modeling and Data-Driven Hybrid Control for Quadrotor-Robotic-Arm Cable-Suspended Payload Systems

by
Lu Lu
1,
Qihua Xiao
2,
Shikang Zhou
1,
Xinhai Wang
1 and
Yunhe Meng
1,*
1
School of Artificial Intelligence, Sun Yat-sen University, Zhuhai 519000, China
2
School of Physics and Astronomy, Sun Yat-sen University, Zhuhai 519000, China
*
Author to whom correspondence should be addressed.
Drones 2026, 10(1), 51; https://doi.org/10.3390/drones10010051 (registering DOI)
Submission received: 26 November 2025 / Revised: 6 January 2026 / Accepted: 8 January 2026 / Published: 10 January 2026
(This article belongs to the Special Issue Advanced Flight Dynamics and Decision-Making for UAV Operations)
Versions Notes

Abstract

This work investigates a quadrotor equipped with dual-stage robotic arms and a cable-suspended payload, developing a unified methodology for modeling and control. A 10-DOF Lagrangian model captures vehicle-arm-payload coupling through structured mass matrices. A hierarchical control architecture combines SO(3)-based attitude regulation with cooperative swing compensation via partial feedback linearization, exploiting coupling matrices to distribute control between platform and arm actuators. Model accuracy is enhanced through physics-informed system identification, achieving improved prediction correlation with bounded corrections. Lyapunov analysis establishes semi-global practical stability with explicit robustness bounds. High-fidelity simulations in MuJoCo demonstrate a 40–70% swing reduction compared to PD control across multiple scenarios, with low computational overhead at kHz-level control rates, making it suitable for embedded implementation. The framework provides a theoretical foundation and implementation guidelines for cooperative aerial manipulation systems.
Keywords: UAV control; suspended payload; swing suppression; feedback linearization; cooperative control; multibody dynamics UAV control; suspended payload; swing suppression; feedback linearization; cooperative control; multibody dynamics

Share and Cite

MDPI and ACS Style

Lu, L.; Xiao, Q.; Zhou, S.; Wang, X.; Meng, Y. Physical Modeling and Data-Driven Hybrid Control for Quadrotor-Robotic-Arm Cable-Suspended Payload Systems. Drones 2026, 10, 51. https://doi.org/10.3390/drones10010051

AMA Style

Lu L, Xiao Q, Zhou S, Wang X, Meng Y. Physical Modeling and Data-Driven Hybrid Control for Quadrotor-Robotic-Arm Cable-Suspended Payload Systems. Drones. 2026; 10(1):51. https://doi.org/10.3390/drones10010051

Chicago/Turabian Style

Lu, Lu, Qihua Xiao, Shikang Zhou, Xinhai Wang, and Yunhe Meng. 2026. "Physical Modeling and Data-Driven Hybrid Control for Quadrotor-Robotic-Arm Cable-Suspended Payload Systems" Drones 10, no. 1: 51. https://doi.org/10.3390/drones10010051

APA Style

Lu, L., Xiao, Q., Zhou, S., Wang, X., & Meng, Y. (2026). Physical Modeling and Data-Driven Hybrid Control for Quadrotor-Robotic-Arm Cable-Suspended Payload Systems. Drones, 10(1), 51. https://doi.org/10.3390/drones10010051

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