This work considers the anti-disturbance model reference L₂-\(L_{\infty }\) control for the helicopter slung load system subject to unknown disturbances. Initially, a linear model is derived based on the nonlinear dynamics of a helicopter with slung load. The uncertainty and disturbances are jointly considered in the controller design. Then, by designing a disturbance observer and using robust L₂-\(L_{\infty }\) control method, the state feedback control and dynamic output feedback control are respectively analyzed, and two sufficient conditions on deriving the observer gain and controller one are presented via the linear matrix inequality (LMI) form, which can guarantee the helicopter slung load system to asymptotically track the reference model with L₂-\(L_{\infty }\) performance. Finally, some simulation results are presented to show the effectiveness of the proposed methods.

这项工作考虑了在不受未知干扰的情况下，直升机悬挂负载系统的抗干扰模型参考L ₂ - （（L _ {\ infty} \）控制。最初，基于带有倾斜负载的直升机的非线性动力学推导线性模型。控制器设计中会综合考虑不确定性和干扰。然后，通过设计干扰观测器并使用鲁棒L ₂ - \（L _ {\ infty} \）分别分析了控制方法，状态反馈控制和动态输出反馈控制，并通过线性矩阵不等式（LMI）形式给出了获得观测器增益和控制器一个的两个充分条件，可以保证直升机的悬臂负载系统渐近跟踪具有L ₂ - \（L _ {\ infty} \）性能的参考模型。最后，一些仿真结果表明了所提方法的有效性。