New fuzzy-based anti-swing controller for helicopter slung-load system near hover

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.