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.


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    Title :

    Improving hovering performance of tethered unmanned helicopters with nonlinear control strategies


    Contributors:


    Publication date :

    2013-05-01


    Size :

    960992 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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