Abstract
In this paper, the zero-vibration hovering control of the sling-load helicopter is investigated by using zeroing dynamics (ZD) method and zeroing-gradient (ZG) method, through which we obtain the z3g1 controller. More importantly, two new Zhang et al discretization (ZeaD) formulas (i.e., six-instant ZeaD formula and seven-instant ZeaD formula) are applied to the discrete control and simulation for the sling-load helicopter system. Corresponding simulation results show that the two new formulas have high effectiveness in discretizing the zero-vibration hovering model of the sling-load helicopter system.
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