Adaptive Sliding Mode Control for Suspended Payload with Helicopter

Abstract

Helicopters are utilized in transporting slung load from one place to another. They are also used in military and surveillance applications. During earthquakes and floods helicopters are used to delivering food and water supplies to remotely affected areas which are inaccessible via land maneuvering. They are also used in recuse operations. In spite of all these applications with suspended load they are more prone to vibrations because of load behavior. Load act as pendulum resulting in disturbing the control of helicopter and distracting the stability of helicopter. This research work aims to stabilize unmanned helicopter and slung load during hovering in the presence of external disturbances and rotor downwash. Sliding mode control is applied to the helicopter to attain desired response. Linear matrix inequality based SMC is used to stabilized payload because of relatively effective problem solving ability and robustness.