Abstract
A small-scale helicopter testbed has been constructed to
study the dynamics and control of helicopters carrying
suspended loads. This paper presents an overview of the
testbed, a dynamic model of the helicopter-load system,
and a procedure used to estimate the unknown model
parameters. An example experiment demonstrates the
testbed's usefulness: A pilot-like feedback controller
was applied to the helicopter, and horizontal
repositioning maneuvers were performed. Adding input
shaping to the controller caused a reduction in the
maximum and residual load swing during the repositioning
maneuver.
Original language | English |
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Pages (from-to) | 2496-2503 |
Journal | IEEE/ASME Transactions on Mechatronics |
Volume | 20 |
Issue number | 5 |
DOIs | |
Publication status | Published - 2015 |
MoE publication type | A1 Journal article-refereed |
Keywords
- experimental testbed
- helicopter
- input shaping
- remote control
- sling load
- unmanned aerial vehicle (UAV)