  Modeling the kinematics and dynamics of robotics systems with suspended loads
using dual quaternions has not been explored so far. This paper introduces a
new innovative control strategy using dual quaternions for UAVs with
cable-suspended loads, focusing on the sling load lifting and tracking
problems. By utilizing the mathematical efficiency and compactness of dual
quaternions, a unified representation of the UAV and its suspended load's
dynamics and kinematics is achieved, facilitating the realization of load
lifting and trajectory tracking. The simulation results have tested the
proposed strategy's accuracy, efficiency, and robustness. This study makes a
substantial contribution to present this novel control strategy that harnesses
the benefits of dual quaternions for cargo UAVs. Our work also holds promise
for inspiring future innovations in under-actuated systems control using dual
quaternions.
