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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 |
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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 | |
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 |
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Period | 18/10/2010 → … |
Series | I E E E International Conference on Intelligent Robots and Systems. Proceedings |
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ISSN | 2153-0858 |
Fingerprint
Dive into the research topics of 'Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter'. Together they form a unique fingerprint.Projects
- 1 Finished
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Feedforward Control of an Autonomous Helicopter
A. Danapalasingam, K. & la Cour-Harbo, A.
15/02/2007 → 15/02/2010
Project: Research
Equipment
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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 SystemsFacility: Testing facility