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

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

12 Citationer (Scopus)

1450 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.

Originalsprog	Engelsk
Titel	IEEE/RSJ International Conference on Intelligent Robots and Systems : Proceedings
Forlag	IEEE Press
Publikationsdato	2010
Sider	1078 - 1083
ISBN (Trykt)	978-1-4244-6674-0
DOI	https://doi.org/10.1109/IROS.2010.5651755
Status	Udgivet - 2010
Begivenhed	IEEE/RSJ International Conference on Intelligent Robots and Systems - Varighed: 18 okt. 2010 → …

Konference

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

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

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10.1109/IROS.2010.5651755

2010iros feedforwardIndsendt manuskript, 817 KB

AUB Link

Søg efter materialet i Aalborg Universitetsbiblioteks søgemaskine

Feedforward Control of an Autonomous Helicopter
A. Danapalasingam, K. (Projektdeltager) & la Cour-Harbo, A. (Andet)
<ingen navn>
15/02/2007 → 15/02/2010
Projekter: Projekt › Forskning

Drone Research Lab
la Cour-Harbo, A. (Leder), Jensen, S. (Operatør), Rasmussen, F. H. (Andre), Dejgaard Meyer, J. (Andre), Gomez, A. R. (Andre), Bektash, O. M. (Andre), Leth, T. (Andre), Totu, L. C. (Andre), Pedersen, J. N. (Andre), Primatesta, S. (Andre), Gabrlik, P. (Andre) & Bisgaard, M. (Operatør)
Institut for Elektroniske Systemer
Facilitet: Testfacilitet

Citationsformater

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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. i IEEE/RSJ International Conference on Intelligent Robots and Systems: Proceedings. IEEE Press, I E E E International Conference on Intelligent Robots and Systems. Proceedings, s. 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. s. 1078 - 1083 (I E E E International Conference on Intelligent Robots and Systems. Proceedings).

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

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AU - la Cour-Harbo, Anders

AU - A. Danapalasingam, Kumeresan

PY - 2010

Y1 - 2010

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

SN - 978-1-4244-6674-0

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

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

PB - IEEE Press

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems

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ER -

Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

Abstract

Konference

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AUB Link

Fingeraftryk

Projekter

Feedforward Control of an Autonomous Helicopter

Udstyr

Drone Research Lab

Citationsformater