Zero Dynamics Stability of a Multirotor UAV with a Heavy Payload

Abstract

This paper studies the zero dynamics stability of a multirotor Unmanned Aerial Vehicle (UAV) carrying a rigidly attached heavy payload. In particular, we focus on controlling the position of a virtual task-relevant point of interest (POI) on the UAV and investigate how its stability depends on payload placement. Taking the POI position and the yaw angle as output, we prove that the zero dynamics are Lyapunov stable only if this POI is above the system's total center of gravity, assuming that the POI and the payload are both on the UAV's body-fixed z-axis. Remarkably, this indicates that when the payload coincides with the POI, zero dynamics stability is only guaranteed if the payload is above the UAV rather than below it. For the more general case where the POI and payload do not necessarily lie on the same z-axis, we demonstrate stability for a simplified planar model. The analysis also yields an explicit bound on the horizontal payload offset given the rotor thrust limits. Finally, numerical MATLAB simulations provide insight into how results for the planar model are also observed for the general 3D system.