Nonlinear controller design for a helicopter with an external slung load system

This paper describes a nonlinear deterministic controller design for a helicopter with an underslung external load system. A robust control approach is considered for the control law development. The system is considered as a cascade connection of an uncertain nonlinear system. The controller is designed to ensure the stabilization of the helicopter system and the positioning of the underslung load at hover condition. Control analysis and numerical results show that the proposed controller is able to locate the load at the specified position or its neighbourhood