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Modeling and anti-swing control for a helicopter slung-load system

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  • Ren, Yong
  • Li, Kun
  • Ye, Hui

Abstract

In this paper, the problems of suppressing swing and positioning control are investigated for a rigid-body model of helicopter slung-load system subject to input constrains and external disturbances. By utilizing Lagrange’s equations, a rigid-body model of helicopter slung-load system is established. To eliminate the swing and transport the load to target position, a desired trajectory of helicopter is proposed. Thereby, suppress swing and position control problems are transformed to a trajectory tracking control problem. Based on the energy technique, a trajectory tracking control scheme is proposed. Under the constructed control laws, the closed-loop system states can asymptotically converge to system equilibrium points in the presence of external disturbances, meanwhile, input constraints will not be violated. Finally, simulation results illustrate that the developed controllers work well in suppressing swing and positioning control for a rigid-body model of helicopter slung-load system.

Suggested Citation

  • Ren, Yong & Li, Kun & Ye, Hui, 2020. "Modeling and anti-swing control for a helicopter slung-load system," Applied Mathematics and Computation, Elsevier, vol. 372(C).
    • Handle: RePEc:eee:apmaco:v:372:y:2020:i:c:s0096300319309828
    DOI: 10.1016/j.amc.2019.124990
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    References listed on IDEAS

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    1. Zhang, Ancai & Lai, Xuzhi & Wu, Min & She, Jinhua, 2015. "Stabilization of underactuated two-link gymnast robot by using trajectory tracking strategy," Applied Mathematics and Computation, Elsevier, vol. 253(C), pages 193-204.
    2. Qi, Wenhai & Kao, Yonggui & Gao, Xianwen & Wei, Yunliang, 2018. "Controller design for time-delay system with stochastic disturbance and actuator saturation via a new criterion," Applied Mathematics and Computation, Elsevier, vol. 320(C), pages 535-546.
    3. Ma, Yuechao & Jia, Xiaorui & Liu, Deyou, 2016. "Robust finite-time H∞ control for discrete-time singular Markovian jump systems with time-varying delay and actuator saturation," Applied Mathematics and Computation, Elsevier, vol. 286(C), pages 213-227.
    4. Zhijie Liu & Jinkun Liu & Wei He, 2017. "Vibration control of a flexible aerial refuelling hose with input saturation," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(5), pages 971-983, April.
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    Cited by:

    1. Liu, Lijun & Chen, Mou & Li, Tao, 2022. "Disturbance observer-based robust coordination control for unmanned autonomous helicopter slung-load system via coupling analysis method," Applied Mathematics and Computation, Elsevier, vol. 427(C).

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