A planar experimental remote-controlled helicopter with a suspended load

James J. Potter, Christopher J. Adams, William Singhose

Research output: Contribution to journalArticleScientificpeer-review

41 Citations (Scopus)


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 languageEnglish
Pages (from-to)2496-2503
JournalIEEE/ASME Transactions on Mechatronics
Issue number5
Publication statusPublished - 2015
MoE publication typeA1 Journal article-refereed


  • experimental testbed
  • helicopter
  • input shaping
  • remote control
  • sling load
  • unmanned aerial vehicle (UAV)


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