Spot hover control of helicopter and swing control of helicopter sling load by using Zhang-gradient method

Helicopter sling load has a wide range of applications. However, the sling load of helicopter may make it dangerous. In this paper, the spot hover control and the swing control of helicopter sling load system are investigated. To solve the problems, the ZG method, which is the combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods, is adopted. Firstly, with the purpose of helicopter spot hover considered, a z2g1 controller is designed and proposed by using the ZG method, where ZD is used for two times and GD is used for one time. Secondly, with the purpose of swing control of helicopter sling load considered, another z2g1 controller is designed and proposed. Simulation results on a mathematical model of helicopter sling load system equipped with the proposed z2g1 controllers are presented for different control purposes, which substantiate the effectiveness and significance of the proposed method and controllers.