ABSTRACT
The dynamic effects and oscillation control of helicopters/quadcopters transporting large-size loads are presented. This chapter derives a dynamic model of a helicopter/quadcopter carrying a distributed-mass load with double-pendulum dynamics, which includes motions of the helicopter/quadcopter's attitude, load swing, and load twisting. A control method was presented, which reduces the load swing and twisting, and adjusts the vehicle's attitude. Simulations verify the dynamic behavior of the mathematical model and effectiveness of the control technique.
