Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 20, Issue 5, Pages 2496-2503Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2014.2386801
Keywords
Experimental testbed; helicopter; input shaping; remote control; sling load; unmanned aerial vehicle (UAV)
Categories
Funding
- Vertical Lift Consortium
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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.
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