The control optimization method for helicopters carrying suspended loads during hover flight utilizes a controller based on time-delayed feedback of the load swing angles. The controller outputs include additional displacements, which are added to the helicopter trajectory in the longitudinal and lateral directions. This simple implementation requires only a small modification to the software of the helicopter position controller. Moreover, the implementation of this controller does not need rates of the swing angles. The parameters of the controllers are optimized using the method of particle swarms by minimizing an index that is a function of the history of the load swing. Simulation results show the effectiveness of the controller in suppressing the swing of the slung load while stabilizing the helicopter.
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