Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

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

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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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 languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems : Proceedings
PublisherIEEE Press
Publication date2010
Pages1078 - 1083
ISBN (Print)978-1-4244-6674-0
DOIs
Publication statusPublished - 2010
EventIEEE/RSJ International Conference on Intelligent Robots and Systems -
Duration: 18 Oct 2010 → …

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems
Period18/10/2010 → …
SeriesI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

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Feedforward control
Disturbance rejection
Helicopters
Controllers
Rotors

Cite this

Bisgaard, M., la Cour-Harbo, A., & A. Danapalasingam, K. (2010). Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter. In IEEE/RSJ International Conference on Intelligent Robots and Systems: Proceedings (pp. 1078 - 1083). IEEE Press. I E E E International Conference on Intelligent Robots and Systems. Proceedings https://doi.org/10.1109/IROS.2010.5651755
Bisgaard, Morten ; la Cour-Harbo, Anders ; A. Danapalasingam, Kumeresan. / Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter. IEEE/RSJ International Conference on Intelligent Robots and Systems: Proceedings. IEEE Press, 2010. pp. 1078 - 1083 (I E E E International Conference on Intelligent Robots and Systems. Proceedings).
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Bisgaard, M, la Cour-Harbo, A & A. Danapalasingam, K 2010, Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter. in IEEE/RSJ International Conference on Intelligent Robots and Systems: Proceedings. IEEE Press, I E E E International Conference on Intelligent Robots and Systems. Proceedings, pp. 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. p. 1078 - 1083 (I E E E International Conference on Intelligent Robots and Systems. Proceedings).

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

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Bisgaard M, la Cour-Harbo A, A. Danapalasingam K. Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter. In IEEE/RSJ International Conference on Intelligent Robots and Systems: Proceedings. IEEE Press. 2010. p. 1078 - 1083. (I E E E International Conference on Intelligent Robots and Systems. Proceedings). https://doi.org/10.1109/IROS.2010.5651755