Helicopter SONAR Control: Cable Control for Helicopter Dipping SONAR Operations in Hover using Incremental Nonlinear Dynamic Inversion

Control of a helicopter with a deployed dipping sound navigation and ranging (SONAR) is no trivial task due to the complex dynamics of the suspension cable. The cable can change shape, which influences the effect of water, wind and the motion of the helicopter itself. To control such a system, a control method is needed that can cope with these...