├── .gitignore ├── LICENSE ├── README.md ├── modeling ├── cart_pendulum.py ├── differentially_flatness.py ├── quadrotor2d_slung.py ├── quadrotor3d_slung.py ├── quadrotor_kinematics.py ├── stability_slung_load_2d.py ├── stability_slung_load_3d.py └── suspended_load_2d.png └── simulation ├── README.md ├── analysis ├── all_simulations.m ├── calc_input.m ├── calc_metrics.m ├── diff_flat_shaped.m ├── plot_metrics.m └── run_simulation.m ├── auxiliary ├── Rb2i.m ├── Tb2i.m ├── Tb2i_dot.m ├── Ti2b.m ├── calc_ylim.m ├── pascal_coefficients.m ├── plot_circle_3d.m ├── test_zvd_shaper.m └── zvd_shaper.m ├── config ├── common_config.m ├── common_control.m ├── differentially_flat_config.m ├── flat_smc3d_slung_config.m ├── shaped_flat_smc3d_slung_config.m ├── shaped_smc3d_slung_config.m └── smc3d_slung_config.m ├── control ├── ahsmc.m ├── smc.m └── smcu.m ├── controllers ├── differentially_flat_open_loop_controller.m └── final_smc3d_slung_controller.m ├── dynamics └── quadrotor_slung_load_3d.m ├── main.m ├── multi_obj_optimization.m ├── ode_fun.m ├── optimization.m ├── optimization_functions ├── final_smc3d_multiobj_optfun.m ├── final_smc3d_optfun.m ├── outputfun.m └── plot_opt_vars.m ├── physics └── quadrotor3d_slung_physics.m ├── plot ├── plot_auxiliary_sliding_variables.m ├── plot_cable_angle.m ├── plot_control_input.m ├── plot_control_input_flat.m ├── plot_dictionary.m ├── plot_drone_load_path.m ├── plot_horizontal_state.m ├── plot_phase_portrait.m ├── plot_quadrotor3d.m ├── plot_quadrotor3d_slung_animation.m ├── plot_quadrotor3d_slung_flat_animation.m ├── plot_quadrotor3d_slung_flat_state.m ├── plot_quadrotor3d_slung_state.m ├── plot_quadrotor_posvel.m ├── plot_quadrotor_rpy.m ├── plot_relative_error.m └── plot_sliding_variables.m ├── startup.m ├── trajectories ├── setpoint_trajectory.m ├── sinusoidal_trajectory.m ├── waypoint_flat_trajectory.m ├── waypoint_poly_trajectory.m ├── waypoint_shaped_flat_trajectory.m └── waypoint_shaped_poly_trajectory.m └── trajectory_planning 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