Title :
New fuzzy-based anti-swing controller for helicopter slung-load system near hover
Author_Institution :
Aerosp. Eng. Dept., King Fahd Univ. of Pet. & Miner., Dhahran, Saudi Arabia
Abstract :
In this paper, a new fuzzy based anti-swing controller for helicopter slung load system near hover flight is proposed. The output from this controller is additional displacements that are added to the helicopter trajectory in the longitudinal and lateral directions. Hence, its implementation is simple and it just needs small modification to the software of helicopter position controller. The rules of the anti-swing controller are derived based on the time-delayed feedback of the load swing angles. The simulation results show the effectiveness of the proposed controller in suppressing the swing of the suspended load and stabilizing the system.
Keywords :
feedback; fuzzy control; helicopters; position control; fuzzy-based antiswing controller; helicopter position controller; helicopter slung-load system; helicopter trajectory; hover flight; load swing angles; system stabilization; time-delayed feedback; Aerodynamics; Automatic control; Cables; Control systems; Displacement control; Equations; Feedback; Helicopters; Landmine detection; Motion control;
Conference_Titel :
Computational Intelligence in Robotics and Automation (CIRA), 2009 IEEE International Symposium on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-4808-1
Electronic_ISBN :
978-1-4244-4809-8
DOI :
10.1109/CIRA.2009.5423159
