... on differential flatness is proposed in this paper. Design/methodology/approach Aiming at the characteristics of this system such as underdrive and strong coupling, a quadrotor UAV hanging model of double points link by sling is established by using Lagrangian equation, which greatly decouples and simplifies...

.../approach The proposed system is designed as a multi-layered system. First, the control architecture layer links the input and the output spaces via quaternion-based differential flatness equations. Then, the trajectory generation layer determines the optimal reference path and avoids obstacles to secure...