Payload Swing Estimation and Damping Without Payload Parameters for Multirotor UAVs

Abstract:Cable-suspended payload transport by multirotor UAVs is flexible but generates periodic swing disturbance that degrades tracking and risks instability. Existing anti-swing methods require additional sensors or precise identification of cable length and payload mass, limiting field deployment. We propose a swing-estimation and damping method using only the onboard IMU and throttle command, requiring no payload parameters. An extended Kalman filter extracts the periodic disturbance with the unknown pendulum frequency as an estimated state, and an active damping controller adds a correction angle to the attitude loop to dissipate pendulum energy. Flight experiments confirm robust damping across a tested range of cable-length and mass variations.

Systems and Control (eess.SY); Robotics (cs.RO)

arXiv:2608.18625 [eess.SY]

(or arXiv:2608.18625v1 [eess.SY] for this version)

https://doi.org/10.48550/arXiv.2608.18625 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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