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

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.