Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

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

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9 Citationer (Scopus)
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Abstrakt

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.
OriginalsprogEngelsk
TitelIEEE/RSJ International Conference on Intelligent Robots and Systems : Proceedings
ForlagIEEE Press
Publikationsdato2010
Sider1078 - 1083
ISBN (Trykt)978-1-4244-6674-0
DOI
StatusUdgivet - 2010
BegivenhedIEEE/RSJ International Conference on Intelligent Robots and Systems -
Varighed: 18 okt. 2010 → …

Konference

KonferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
Periode18/10/2010 → …
NavnI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

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