Abstract
| Original language | English |
|---|---|
| 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 |
Fingerprint
Keywords
- experimental testbed
- helicopter
- input shaping
- remote control
- sling load
- unmanned aerial vehicle (UAV)
Cite this
}
A planar experimental remote-controlled helicopter with a suspended load. / Potter, James J.; Adams, Christopher J.; Singhose, William.
In: IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 5, 2015, p. 2496-2503.Research output: Contribution to journal › Article › Scientific › peer-review
TY - JOUR
T1 - A planar experimental remote-controlled helicopter with a suspended load
AU - Potter, James J.
AU - Adams, Christopher J.
AU - Singhose, William
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
KW - experimental testbed
KW - helicopter
KW - input shaping
KW - remote control
KW - sling load
KW - unmanned aerial vehicle (UAV)
U2 - 10.1109/TMECH.2014.2386801
DO - 10.1109/TMECH.2014.2386801
M3 - Article
VL - 20
SP - 2496
EP - 2503
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 5
ER -