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

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.