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

作者：

Highlights：

• To establish a nonlinear model for a helicopter with a rigid body slung load.

• By using the energy-based method, a trajectory tracking control strategy is derived.

• Under the designed control laws, the stability of closed-loop system is analyzed.

• The rationality and effectiveness is verified by using a numerical simulation.

摘要

•To establish a nonlinear model for a helicopter with a rigid body slung load.•By using the energy-based method, a trajectory tracking control strategy is derived.•Under the designed control laws, the stability of closed-loop system is analyzed.•The rationality and effectiveness is verified by using a numerical simulation.

论文关键词：Helicopter slung-load system,Rigid-body model,Suppressing swing,Positioning control,Input constraints

论文评审过程：Received 2 July 2019, Revised 7 November 2019, Accepted 15 December 2019, Available online 3 January 2020, Version of Record 3 January 2020.

论文官网地址：https://doi.org/10.1016/j.amc.2019.124990