Hovering control method for quadrotor unmanned aerial vehicle with hanging load based on state observation

The invention discloses a hovering control method for a quadrotor unmanned aerial vehicle with hanging load based on state observation. The method comprises the steps of (1), establishing kinematic and dynamic models of the quadrotor unmanned aerial vehicle, hanging load and a quadrotor unmanned aerial vehicle hanging system; (2), establishing a linear quadrotor unmanned aerial vehicle hanging system state space model, and designing a dimension reduction state observer for a swing angle and swing angular velocity of the hanging load, thereby obtaining state observation values of the swing angle and the swing angular velocity of the hanging load; (3), computing horizontal disturbing force acting on the quadrotor unmanned aerial vehicle, wherein the horizontal disturbing force results from swing of the hanging load, and computing horizontal additional power and corresponding attitude change quantity required for cancelling the horizontal disturbing force; and (4), designing a state feedback controller, computin