A planar experimental remote-controlled helicopter with a suspended load

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

doi:10.1109/TMECH.2014.2386801

A planar experimental remote-controlled helicopter with a suspended load

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

VTT Technical Research Centre of Finland

Research output: Contribution to journal › Article › Scientific › peer-review

27 Citations (Scopus)

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
Pages (from-to)	2496-2503
Journal	IEEE/ASME Transactions on Mechatronics
Volume	20
Issue number	5
DOIs	https://doi.org/10.1109/TMECH.2014.2386801
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)

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