Discrete Control and Simulation of Zero-Vibration Hovering of Sling-Load Helicopter Using Six-Instant and Seven-Instant ZeaD Formulas

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.