Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

Morten Bisgaard; Anders la Cour-Harbo; Kumeresan A. Danapalasingam

doi:10.1109/IROS.2010.5651755

Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

Morten Bisgaard, Anders la Cour-Harbo, Kumeresan A. Danapalasingam

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

10 Citations (Scopus)

1398 Downloads (Pure)

Abstract

This paper presents the design and verification of a model based nonlinear feedforward controller for wind disturbance rejection on autonomous helicopters. The feedforward control is based on a helicopter model that is derived using a number of carefully chosen simplifications to make it suitable for the purpose. The model is inverted for the calculation of rotor collective and cyclic pitch angles given the wind disturbance. The control strategy is then applied on a small helicopter in a controlled wind environment and flight tests demonstrates the effectiveness and advantage of the feedforward controller.

Original language	English
Title of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems : Proceedings
Publisher	IEEE Press
Publication date	2010
Pages	1078 - 1083
ISBN (Print)	978-1-4244-6674-0
DOIs	https://doi.org/10.1109/IROS.2010.5651755
Publication status	Published - 2010
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems - Duration: 18 Oct 2010 → …

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems
Period	18/10/2010 → …

Series	I E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN	2153-0858

Access to Document

10.1109/IROS.2010.5651755

2010iros feedforwardSubmitted manuscript, 817 KB

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Feedforward Control of an Autonomous Helicopter
A. Danapalasingam, K. & la Cour-Harbo, A.
<ingen navn>
15/02/2007 → 15/02/2010
Project: Research

Drone Research Lab
Anders la Cour-Harbo (Manager), Simon Jensen (Operator), Frank Høgh Rasmussen (Other), Jesper Dejgaard Meyer (Other), Aitor Ramirez Gomez (Other), O. M. Bektash (Other), Tobias Leth (Other), Luminita Cristiana Totu (Other), Jacob Naundrup Pedersen (Other), Stefano Primatesta (Other), Petr Gabrlik (Other) & Morten Bisgaard (Operator)
Department of Electronic Systems
Facility: Testing facility

Cite this

@inproceedings{32992b1d78ec4c6484615ea48860b2f9,

title = "Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter",

abstract = "This paper presents the design and verification of a model based nonlinear feedforward controller for wind disturbance rejection on autonomous helicopters. The feedforward control is based on a helicopter model that is derived using a number of carefully chosen simplifications to make it suitable for the purpose. The model is inverted for the calculation of rotor collective and cyclic pitch angles given the wind disturbance. The control strategy is then applied on a small helicopter in a controlled wind environment and flight tests demonstrates the effectiveness and advantage of the feedforward controller.",

author = "Morten Bisgaard and {la Cour-Harbo}, Anders and {A. Danapalasingam}, Kumeresan",

year = "2010",

doi = "10.1109/IROS.2010.5651755",

language = "English",

isbn = "978-1-4244-6674-0 ",

series = "I E E E International Conference on Intelligent Robots and Systems. Proceedings",

publisher = "IEEE Press",

pages = "1078 -- 1083",

booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 18-10-2010",

}

Bisgaard, M, la Cour-Harbo, A & A. Danapalasingam, K 2010, Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter. in IEEE/RSJ International Conference on Intelligent Robots and Systems: Proceedings. IEEE Press, I E E E International Conference on Intelligent Robots and Systems. Proceedings, pp. 1078 - 1083, IEEE/RSJ International Conference on Intelligent Robots and Systems, 18/10/2010. https://doi.org/10.1109/IROS.2010.5651755

Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter. / Bisgaard, Morten; la Cour-Harbo, Anders; A. Danapalasingam, Kumeresan.
IEEE/RSJ International Conference on Intelligent Robots and Systems: Proceedings. IEEE Press, 2010. p. 1078 - 1083 (I E E E International Conference on Intelligent Robots and Systems. Proceedings).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

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AU - A. Danapalasingam, Kumeresan

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N2 - This paper presents the design and verification of a model based nonlinear feedforward controller for wind disturbance rejection on autonomous helicopters. The feedforward control is based on a helicopter model that is derived using a number of carefully chosen simplifications to make it suitable for the purpose. The model is inverted for the calculation of rotor collective and cyclic pitch angles given the wind disturbance. The control strategy is then applied on a small helicopter in a controlled wind environment and flight tests demonstrates the effectiveness and advantage of the feedforward controller.

AB - This paper presents the design and verification of a model based nonlinear feedforward controller for wind disturbance rejection on autonomous helicopters. The feedforward control is based on a helicopter model that is derived using a number of carefully chosen simplifications to make it suitable for the purpose. The model is inverted for the calculation of rotor collective and cyclic pitch angles given the wind disturbance. The control strategy is then applied on a small helicopter in a controlled wind environment and flight tests demonstrates the effectiveness and advantage of the feedforward controller.

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DO - 10.1109/IROS.2010.5651755

M3 - Article in proceeding

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T3 - I E E E International Conference on Intelligent Robots and Systems. Proceedings

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EP - 1083

BT - IEEE/RSJ International Conference on Intelligent Robots and Systems

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Bisgaard M, la Cour-Harbo A, A. Danapalasingam K. Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter. In IEEE/RSJ International Conference on Intelligent Robots and Systems: Proceedings. IEEE Press. 2010. p. 1078 - 1083. (I E E E International Conference on Intelligent Robots and Systems. Proceedings). doi: 10.1109/IROS.2010.5651755

Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

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Projects

Feedforward Control of an Autonomous Helicopter

Equipment

Drone Research Lab

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