Adaptive control system for autonomous helicopter slung load operations

作者：Bisgaard Morten^*; la Cour Harbo Anders; Bendtsen Jan Dimon

来源：Control Engineering Practice, 2010, 18(7): 800-811.

DOI：10.1016/j.conengprac.2010.01.017

• Helicopter control
• Delay
• Feedforward control
• Kalman filters
• Autonomous vehicles
• Frequency estimation

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.

• 出版日期2010-7