الفهرس 
Modelling and control of underactuated systems applied to a uav with a cable-suspended load
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Abstract
In this thesis, a nonlinear eight degree of freedom (8DOF) mathematical model was derived from the first principles for a quadcopter when its C.G. is shifted from its geometric centroid and when a cable-suspended load is hanged at a general position. The nonlinear model was then linearized using small disturbance theory. An adaptive controller based on Linear Quadratic Regulator (Adaptive LQR) was designed and simulated using the nonlinear model to stabilize the system and track a given trajectory while minimizing the swinging motion of the suspended load. Using MATLAB/SIMULINK, the designed controller showed good performance in both stabilizing the system and tracking di erent trajectories like circular, infinity-shaped, helical and rectangular trajectories