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 | |
| 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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Cite this
Potter, J. J., Adams, C. J., & Singhose, W. (2015). A planar experimental remote-controlled helicopter with a suspended load. IEEE/ASME Transactions on Mechatronics, 20(5), 2496-2503. https://doi.org/10.1109/TMECH.2014.2386801