Nonlinear forward path tracking controller for helicopter with slung load

In this paper, a tracking controller is designed for a helicopter with a slung load. The designed controller is nonlinear and is based on the backstopping method. First, we developed a comprehensive nonlinear mathematical model of the helicopter and designed a nonlinear backstepping controller to track the trajectory of the helicopter alone. Then, we developed a mathematical model of the slung load and integrated it with the helicopter system. In the next step, we designed an anti-swing delayed feedback controller to damp the load oscillation. This controller works independently of the nonlinear tracking controller. Moreover, its performance is optimized using the differential evolution (DE) technique. The simulation results show the effectiveness of the designed control system.