An active disturbance rejection controller design and parameter tuning for helicopter with slung-load

The ability of a helicopter to carry externally slung loads makes it very versatile for many civil and military operations. For Helicopter slung-load system in the presence of strong disturbances and complex effects from its load, an Active Disturbance Rejection Control method(ADRC) will be applied to helicopter slung-load system and its parameter tuning based on genetic algorithm(GA) will be proposed in this paper. An extended state observer(ESO) of ADRC can estimate the impact from parametric uncertainties and disturbances from externally load, realize online compensations and other uncertainties in the helicopter dynamics can be rejected by active disturbance rejection control to achieve small tracking error. Finally, simulation results show that the proposed ADRC Control method obtains desirable transient performance and robustness for dynamics of helicopter with slung-load.