Hovering capabilities of unmanned helicopters can be seriously affected by wind effects. One possible solution for improving hovering performance under such circumstances is the use of a tethered setup that takes advantage of the tension exerted on the cable that links the helicopter to the ground. This paper presents a more elaborated strategy for helicopter control in this augmented setup that extends previous work on the subject by the authors. Particularly, a combination of classical PID control laws together with model inversion blocks constitutes the base of the new controller. Additionally, feed-forward action for counteracting rotational couplings is also accounted for. The resulting nonlinear control structure considers the complex and nonlinear nature of the tethered system in a better way. Several demonstrating simulations under artificially generated wind influences are presented to endorse the validity of the new proposed controller.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Improving hovering performance of tethered unmanned helicopters with nonlinear control strategies


    Beteiligte:
    Sandino, Luis A. (Autor:in) / Bejar, Manuel (Autor:in) / Kondak, Konstantin (Autor:in) / Ollero, Anibal (Autor:in)


    Erscheinungsdatum :

    2013-05-01


    Format / Umfang :

    960992 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Why hovering helicopters are unstable

    Prouty, R.W. | Tema Archiv | 1997


    Modeling and Control of Tethered Unmanned Multicopters in Hovering Flight

    De Castro, Davi Ferreira / Santos, Jonatas Sant'Anna / De Oliveira, Marco Batista Xando et al. | British Library Conference Proceedings | 2015


    Modeling and Control of Tethered Unmanned Multicopters in Hovering Flight

    Ferreira de Castro, Davi / Santos, Jonatas S. / Batista, Marco et al. | AIAA | 2015


    HAPTIC HOVERING TEACHING SYSTEM FOR HELICOPTERS

    Friedl, K.E. / Suzuki, S. / International Council of the Aeronautical Sciences; Optimage Ltd | British Library Conference Proceedings | 2010


    Hovering control for helicopters using a GNSS vector

    MCCLURE JOHN A / GUYETTE GREG S | Europäisches Patentamt | 2015

    Freier Zugriff