Abstract
In this paper a tracking controller is designed for a helicopter plus slung load system. The controller designed is nonlinear and is based on the Backstepping method. First we develop a comprehensive nonlinear mathematical model of the helicopter and design the nonlinear Backstepping controller for trajectory tracking for the helicopter alone. Then we model the slung load mathematically as a slung load and integrate it to the helicopter system. In the next step we design the delayed feedback controller for load swing damping which works independent of the nonlinear tracking controller. The anti-swing controller for load is optimized for best performance by the differential evolution (DE). Finally we present the simulation and results to illustrate the effectiveness of the method.
| Original language | English |
|---|---|
| Title of host publication | 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2013 - Proceedings |
| Publisher | IFAC Secretariat |
| Pages | 134-141 |
| Number of pages | 8 |
| Edition | PART 1 |
| ISBN (Print) | 9783902823571 |
| DOIs | |
| State | Published - 2013 |
Publication series
| Name | IFAC Proceedings Volumes (IFAC-PapersOnline) |
|---|---|
| Number | PART 1 |
| Volume | 2 |
| ISSN (Print) | 1474-6670 |
Bibliographical note
Funding Information:The author(s) would like to acknowledge the support provided by King Abdulaziz City for Science and Technology (KACST) through the Science and Technology Unit at King Fahd University of Petroleum and Minerals (KFUPM) for funding this work through project No. 09-SPA783-04 as part of the National Science, Technology and Innovation Plan
Keywords
- Anti-swing controller
- Backstepping nonlinear tracking control
- Delayed feedback
- Differential evolution
- Helicopter slung load system
ASJC Scopus subject areas
- Control and Systems Engineering