This paper presents design and verification of an estimation and control system for a helicopter slung load system. The estimator provides position and velocity estimates of the slung load and is designed to augment existing navigation in autonomous helicopters. Sensor input is provided by a vision system on the helicopter that measures the position of the slung load. The controller is a combined feedforward and feedback scheme for simultaneous avoidance of swing excitation and active swing damping. Simulations and laboratory flight tests show the effectiveness of the combined control system, yielding significant load swing reduction compared to the baseline controller.


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    Title :

    Adaptive control system for autonomous helicopter slung load operations


    Additional title:

    Adaptivregelungssystem eines autonomen Hubschraubers bei Operationen mit angehängten Lasten


    Contributors:

    Published in:

    Publication date :

    2010


    Size :

    12 Seiten




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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