Adaptive Active Anti-Vibration Control for a 3-D Helicopter Flexible Slung-Load System With Input Saturations and Backlash

This article investigates active anti-vibration control for a 3-D helicopter flexible slung-load system (HFSLS) subject to input saturations and backlash. The first target of the study is to establish a model for a 3-D HFSLS. The second target is to develop an adaptive control law for an HFSLS by analyzing its ability to compensate for the effects of input saturations, input backlash, and external disturbances, while achieving the goal of vibration reduction. Simulation results of the numerical model show that the proposed adaptive active control technology is effective in solving the oscillation suppression problem for the 3-D HFSLS with input saturations and backlash.