Adaptive control system for autonomous helicopter slung load operations

This paper presents design and verification of an estimation and control system for a helicopter slung load system. The estimator provides position and velocity estimates of the slung load and is designed to augment existing navigation in autonomous helicopters. Sensor input is provided by a vision...

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Bibliographic Details
Published inControl engineering practice Vol. 18; no. 7; pp. 800 - 811
Main Authors Bisgaard, Morten, la Cour-Harbo, Anders, Dimon Bendtsen, Jan
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.07.2010
Subjects
Active control
Autonomous
Autonomous vehicles
Control systems
Control theory
Delay
Feedback
Feedforward
Feedforward control
Frequency estimation
Helicopter control
Helicopters
Kalman filters
Swing
Feedforward control
Frequency estimation
Kalman filters
Helicopter control
Delay
Autonomous vehicles
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Summary:This paper presents design and verification of an estimation and control system for a helicopter slung load system. The estimator provides position and velocity estimates of the slung load and is designed to augment existing navigation in autonomous helicopters. Sensor input is provided by a vision system on the helicopter that measures the position of the slung load. The controller is a combined feedforward and feedback scheme for simultaneous avoidance of swing excitation and active swing damping. Simulations and laboratory flight tests show the effectiveness of the combined control system, yielding significant load swing reduction compared to the baseline controller.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0967-0661
1873-6939
DOI:10.1016/j.conengprac.2010.01.017