Input Shaping for Helicopter Slung Load Swing Reduction

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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This chapter presents a feedforward swing reducing control system for augmenting already existing helicopter controllers and enables slung load flight with autonomous helicopters general cargo transport. The feedforward controller is designed to avoid excitation of the lightly damped modes of the system by shaping the reference trajectory using robust input shaping. It is developed as part of an integrated adaptive control system consisting of state estimator, feedforward, and feedback controller capable of simultaneously preventing swing in the slung load from helicopter motion and actively dampen swing. Simulations and flight tests show the effectiveness of the input
shaping applied to a small scale autonomous helicopter slung load system. Both simulations and flight verifications shows significant slung load swing reduction using the proposed trajectory shaping over over flight without. Indeed it is shown how the system is capable of performing almost completely swing free manoeuvres using the designed input shaper.
TitelAIAA Guidance, Navigation and Control Conference and Exhibit (2008) : Conference Proceeding Series
ForlagAmerican Institute of Aeronautics and Astronautics
ISBN (Trykt)1-56347-945-1, 978-1-56347-945-8
StatusUdgivet - 2008
BegivenhedAIAA Guidance, Navigation and Control Conference and Exhibit - Honolulu, USA
Varighed: 18 aug. 200821 aug. 2008


KonferenceAIAA Guidance, Navigation and Control Conference and Exhibit


  • helikopter
  • feedforward
  • slung load
  • input shaping

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