Article ID Journal Published Year Pages File Type
699949 Control Engineering Practice 2010 12 Pages PDF
Abstract

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.

Related Topics
Physical Sciences and Engineering Engineering Aerospace Engineering
Authors
, , ,