  This paper presents a design of oscillation damping control for the
cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double
pendulum, and it can generate a body wrench as a control action. The main
challenge is the fact that there is only one onboard IMU sensor which does not
provide full information on the system state. To overcome this difficulty, we
design a controller motivated by a simplified SAM model. The proposed
controller is very simple yet robust to model uncertainties. Moreover, we
propose a gain tuning rule by formulating the proposed controller in the form
of output feedback linear quadratic regulation problem. Consequently, it is
possible to quickly dampen oscillations with minimal energy consumption. The
proposed approach is validated through simulations and experiments.
