Robust Iterative Controller for a Swash Mass Helicopter Transporting a Cable-Suspended Payload

In this paper, a swash mass helicopter (SMH) model is considered, which uses four masses on an orthogonal plane and two coaxial shaft rotors to take off and maneuver the helicopter. The main contribution of this paper is the design of a robust controller for a dynamic model with a cable-suspended payload. To achieve this, we first provide a model of the SMH in the presence of the cable-suspended payload. Second, an interconnection and damping assignment passivity-based control (IDA-PBC) is designed and analyzed for tracking the performance. Gradient iterative learning control (GILC) is then employed to address the issue of robustness despite the cable-suspended payload. Finally, simulation results show that the proposed controller strategy has more stable tracking performance, and from the numerical indexes, it can be concluded that by employing GILC, the fluctuation in the presence of a cable-suspended payload for SMH is approximately 40% lower in comparison with another method.