Adaptive Fuzzy Control for an Uncertain Axially Moving Slung-Load Cable System of a Hovering Helicopter With Actuator Fault

This study addresses adaptive fuzzy control for an axially moving slung-load cable system (AMSLCS) of a helicopter in the presence of an actuator fault, system uncertainty, and disturbances with the aid of a fuzzy logic system (FLS). The actuator fault considered is depicted by a more general faulty plant that includes an unknown actuator gain fault and a fault deviation vector. First, to compensate for system uncertainty and the fault deviation vector, a fuzzy control technique is adopted. Then, under the introduced FLS, a novel adaptive fuzzy control law is developed by employing a rigorous Lyapunov derivation. The closed-loop system of the AMSLCS is proved to be uniformly bounded even when considering the actuator fault, system uncertainty, and disturbances. Finally, a simulation is executed to expound the performance of the developed controller.