Adaptive Control System for Autonomous Helicopter Slung Load Operations

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Resumé

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.
OriginalsprogEngelsk
TidsskriftControl Engineering Practice
Vol/bind18
Udgave nummer7
Sider (fra-til)800-811
ISSN0967-0661
DOI
StatusUdgivet - jul. 2010

Fingerprint

Slings
Adaptive control systems
Helicopter
Adaptive Systems
Helicopters
Adaptive Control
Control System
Control systems
Controllers
Controller
Navigation
Vision System
Feedforward
Damping
Feedback
Baseline
Excitation
Sensors
Estimator
Sensor

Citer dette

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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.",
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Adaptive Control System for Autonomous Helicopter Slung Load Operations. / Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon.

I: Control Engineering Practice, Bind 18, Nr. 7, 07.2010, s. 800-811.

Publikation: Bidrag til tidsskriftTidsskriftartikelForskningpeer review

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AB - 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.

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