vi Abbreviations and Acronyms vii

vi Abbreviations and Acronyms vii

....................................................................................................................................................... 1 LIST OF ACRONYMS ......................................................................................................................................... 4

vi Abbreviations and Acronyms vii

vii Acronyms and Abbreviations ix

ii Abbreviations and Acronyms vii

..................................................................................................................................................2 Acknowledgement...................................................................................................................................3 Acronyms ...............................................................................................

.............................................................................................................................................. IV ABBREVIATIONS AND ACRONYMS .................................................................................................V

DASC Time-delayed anti-swing controller FHL Force transferred from the load to the helicopter kd Gain of the delayed feedback controller L Load cable length mL Load mass MHL Moment transferred from the load to the helicopter N Number of particles in the PSO PSO Particle swarm optimization algorithm RH Hook position vector RL Load position vector p,q,r Helicopter angular velocities Vmax Maximum ...