Title :
A Planar Experimental Remote-Controlled Helicopter With a Suspended Load
Author :
Potter, James J. ; Adams, Christopher J. ; Singhose, William
Author_Institution :
VTT Tech. Res. Centre of Finland, Espoo, Finland
Abstract :
A small-scale helicopter testbed has been constructed to study the dynamics and control of helicopters carrying suspended loads. This paper presents an overview of the testbed, a dynamic model of the helicopter-load system, and a procedure used to estimate the unknown model parameters. An example experiment demonstrates the testbed´s usefulness: A pilot-like feedback controller was applied to the helicopter, and horizontal repositioning maneuvers were performed. Adding input shaping to the controller caused a reduction in the maximum and residual load swing during the repositioning maneuver.
Keywords :
aircraft control; autonomous aerial vehicles; feedback; helicopters; mobile robots; motion control; parameter estimation; telecontrol; UAV; controller input shaping; feedback controller; helicopter dynamics; helicopter-load system; horizontal repositioning maneuver; load swing reduction; model parameter estimation; remote-controlled helicopter; suspended load; unmanned aerial vehicle; Aerodynamics; Force; Helicopters; Load modeling; Rails; Rotors; Suspensions; Experimental testbed; helicopter; input shaping; remote control; sling load; unmanned aerial vehicle (UAV);
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2014.2386801