SLUNG-LOAD TRAJECTORY CONTROL USING AN INPUT-SHAPING METHOD WITH MODEL-FOLLOWING CONTROL

Byung-Yoon Lee,∗ Hyun-Shik Oh,∗∗ Min-Jea Tahk,∗∗∗ and Hae-In Lee∗∗∗∗

Keywords

Slung-load transportation system, payload stabilization, Input- shaping method (ISM), Model-following control (MFC)

Abstract

In this paper, a control method for a slung-load transportation system is studied. When a suspended payload is transported by a rotorcraft, a payload stabilization control structure is needed to reduce the excessive swinging of the suspended payload and mini- mize the control performance degradation of the rotorcraft simul- taneously. A control structure employing a slung-load trajectory, which works by combining an input-shaping method (ISM) with a model-following control (MFC) technique, is proposed to control the slung-load system. The advantage of the proposed controller is that the intended payload oscillation induced by the ISM is not considered as a disturbance of the MFC structure. Finally, a simu- lation programme is employed to verify that the proposed payload stabilization controller operates as intended and to analyse its per- formance. The simulation results show that the proposed controller improves the relative robustness with respect to the model errors as well as the control performance when compared to the existing controllers.

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